Digital denture design and replacement

ABSTRACT

Apparatuses, components, devices, methods, and systems for generating dentures are provided. An example system includes a motion capture system that captures patient jaw motion and generates patient jaw motion data; and a denture design system that generates a denture design based on the patient jaw motion data. An example method includes acquiring a digital reference denture model of a reference denture; selecting a denture tooth library based on the digital reference denture model; selecting and aligning denture library teeth from the selected denture tooth library to the digital reference denture model; generating a denture base digital model based on the digital reference denture model and the aligned denture library teeth; and fabricating a physical denture based from the denture base digital model.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority, as appropriate, to U.S. Ser. No.63/149,178, titled “MOTION-BASED DIGITAL DENTURE DESIGN” and filed Feb.12, 2021, and U.S. Ser. No. 63/274,798, titled “DIGITAL DENTURE DESIGNAND REPLACEMENT” and filed Nov. 2, 2021, the disclosures of which arehereby incorporated by reference in their entireties.

BACKGROUND

A denture is a dental prosthesis that is made to replace missing teeth.Dentures are often supported by the surrounding soft and hard tissue ofthe oral cavity. For example, a denture may be designed to fit over andbe supported by a patient's gum tissue. Dentures may include a denturebase region that is formed from an acrylic material and colored toappear similar to gum tissue. Denture teeth formed from acrylic or othermaterials may be secured to the denture base.

There are a variety of types of dentures. For example, dentures may befixed or removable, and implant-supported or non-implant supported.Additionally, dentures may be complete (i.e., replacing the teeth of anentire dental arch) or partial (i.e., replacing less than all of theteeth of a dental arch).

A removable denture is made such that a patient may (and usually should)remove the denture during ordinary use. For example, the patient mayremove the denture on a daily basis for overnight cleaning. Non-implantsupported, removable dentures are often held in place by a suction fitbetween the bottom of the denture and the patient's gum tissue. Thebases of removable dentures are generally fabricated to closely followthe shape of the patient's gum tissue. When the base is pressed againstthe patient's gum tissue, air may be forced out, creating a low-pressuresuction seal between the denture base and the patient's tissue. Partialremovable dentures may include clasps that mechanically secure thedenture to the patient's remaining teeth.

Implant-supported dentures are designed to couple to dental implantsthat have been implanted in the patient. Implant-supported dentures maybe fixed or removable. Some implant-supported dentures may be removableby the patient to allow for cleaning.

A fixed denture is not intended to be removed by a patient duringordinary use. Typically, a fixed denture is placed by a care provider,such as a dentist or prosthodontist, and is removed, if necessary, bythe care provider. A fixed denture may, for example, be secured to oneor more dental implants.

When properly made and fit, dentures may provide numerous benefits tothe patient. These benefits include improved mastication (chewing) asthe denture replaces edentulous (gum tissue) regions with denture teeth.Additional benefits include improved aesthetics when the patient's mouthis open due to the presence of denture teeth and when the patient's isclosed due to the cheek and lip support provided by the denturestructure. Another benefit of dentures is improved pronunciation as thepresence of properly sized front teeth is important for making severalspeech sounds.

Understanding and recording an accurate static relationship betweenteeth in a patient's upper jaw and lower jaw is an important first stepin the art and science of designing dentures. Existing techniques andsystems for making dentures may fail to adequately size and shapedentures for the dynamic movements of a patient's jaw.

SUMMARY

In general terms, this disclosure is directed to motion-based denturesand motion-based denture design systems and methods. In one possibleconfiguration and by non-limiting example, patient motion data iscaptured using a patient assembly that is coupled to a patient'sdentition and the captured motion data is used by a denture designsystem to design a motion-based denture.

One aspect is a method comprising: acquiring a digital model of apatient's dentition; acquiring motion data for the patient; determininga vertical dimension of occlusion for the patient; positioning thedigital model based on the motion data to achieve the desired verticaldimension; and generating a denture design based on the positioneddigital model.

Another aspect is a method comprising: acquiring a digital model of apatient's dentition; positioning a first set of digital denture teethmodels with respect to the digital model, the first set of digitaldenture teeth being for a first dental arch; positioning a second set ofdigital denture teeth models with respect to the digital model, thesecond set of digital denture teeth being for a second dental arch;generating a user interface that displays at least some of the first setof digital denture teeth and some of the second set of digital dentureteeth; and receiving a user input; responsive to the user input:repositioning at least one tooth from the second set of digital dentureteeth in a direction indicated by the user input; further repositioningthe at least one tooth from the second set of digital denture teeth tomake contact with the first set of digital denture teeth; and updatingthe display of the of the at least one tooth from the second set ofdigital denture teeth.

Yet another aspect is a system comprising: a motion capture system thatcaptures patient jaw motion and generates patient jaw motion data; and adenture design system including at least one processor and at least onememory that is operably coupled to the at least one processor andstoring instructions that, when executed by the at least one processor,cause the denture design system to generate a denture design based onthe patient jaw motion data by: generating an occlusal guidance surfacebased on the patient jaw motion data; and positioning digital denturelibrary teeth based on the occlusal guidance surface.

Another aspect is a method comprising: acquiring a digital referencedenture model of a reference denture for a patient; selecting a denturetooth library based on the digital reference denture model; selectingand aligning denture library teeth from the selected denture toothlibrary to the digital reference denture model; generating a denturebase digital model based on the digital reference denture model and thealigned denture library teeth; and fabricating a physical denture basedfrom the denture base digital model.

The details of one or more aspects are set forth in the accompanyingdrawings and description below. Other features and advantages will beapparent from a reading of the following detailed description and areview of the associated drawings. It is to be understood that thefollowing detailed description is explanatory only and is notrestrictive of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram illustrating an example of a systemfor fabricating a motion-based denture.

FIG. 2 is a schematic block diagram illustrating an example motioncapture system for capturing jaw movement.

FIG. 3 illustrates a block diagram of an example patient assembly ofFIG. 2 .

FIG. 4 illustrates an example embodiment of the clutch of FIG. 3 .

FIGS. 5A-B are cross-sectional side views that illustrate the attachmentof an embodiment of a dentition coupling device of the clutch orreference structure of FIG. 2 to a dental implant.

FIG. 6 includes an example of the motion capture system of FIG. 1 inwhich two screens are used.

FIG. 7 illustrates a top view of an embodiment of a reference structureof FIG. 3 and an embodiment of the imaging system of FIG. 1 .

FIG. 8 illustrates a perspective view of the reference structure of FIG.7 disposed between the screens of the imaging system of FIG. 7 .

FIG. 9 is a flowchart of an example process for fabricating a denturebased on motion data.

FIG. 10 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 11 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 12 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 13 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 14 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 15 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 16 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 17 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 18 includes an example user interface screen that may be generatedby the denture design system of FIG. 1 .

FIG. 19 is a schematic diagram of an example set of motion-baseddentures according to embodiments described herein.

FIG. 20 is a flowchart of an example process for fabricating areplacement denture according to embodiments described herein.

FIG. 21A is a schematic diagram of an example user interface accordingto embodiments described herein.

FIG. 21B is a schematic diagram of an example denture tooth.

FIG. 21C is a schematic diagram of an example denture tooth.

FIG. 22 is a schematic diagram of an example library denture toothaccording to embodiments described herein.

FIG. 23 illustrates an example architecture of a computing device, whichcan be used to implement aspects according to the present disclosure.

DETAILED DESCRIPTION

Various embodiments will be described in detail with reference to thedrawings, wherein like reference numerals represent like parts andassemblies throughout the several views. Reference to variousembodiments does not limit the scope of the claims attached hereto.Additionally, any examples set forth in this specification are notintended to be limiting and merely set forth some of the many possibleembodiments for the appended claims.

The present disclosure relates to motion-based digital denture designand motion-based digital dentures. For example, a motion-based digitaldenture design system may use actual motion data captured from a patientto aid in the design of dentures. The motion data may provide fordentures that fit the patient better than conventionally designeddentures that do not use actual motion data. For example, the teeth ofthe dentures may be positioned so as to avoid interfering with opposingteeth (e.g., opposing actual teeth or denture teeth) during patientbiting motion. Embodiments may reduce the chair time and number ofvisits required to fit dentures to a patient. Embodiments may alsoprovide for dentures that have balanced occlusal support throughoutfunctional movements (e.g., excursive movements).

The motion-based digital denture design may be based on motion datacaptured by a motion capture system for jaw movement. For example, themotion capture system may record the motion of a patient's mandiblerelative to the patient's maxilla. In some embodiments, the systeminfers the approximate location of an axis corresponding to thecondyloid process of the temporomandibular joint of the patient. Theaxis may be a hinge axis or a screw axis. Further, the system maygenerate a model of a range of motion of the mandible relative to themaxilla based on the inferred location of the axis, the recorded motion,or both.

In embodiments, the recorded motion is applied to a three-dimensionaldigital model of at least a portion of the patient's dentition. Thismotion can then be used while designing and fabricating dentures for thepatient. In this manner, the dentures can be designed based on analysisof a range of actual motion for the patient.

FIG. 1 is a schematic block diagram illustrating an example of a system100 for fabricating motion-based dentures, such as the denture 124 usingjaw motion data captured by the motion capture system. In this example,the system 100 includes a dental office 102 and a dental lab 104.

The example dental office 102 includes a motion capture system 200(which described further with respect to at least FIG. 2 ), a dentalimpression station 106, an image capture system 107, and a dentaltherapy station 126. Although shown as separate components in thisfigure, the image capture system 107 may be a sub-component of themotion capture system 200 (as described elsewhere herein).

Although shown as a single dental office in this figure, in someembodiments, the dental office 102 includes multiple dental offices. Forexample, in some embodiments, one or more of the dental impressionstation 106, the image capture system 107, and the motion capture system200 are in a different dental office than the dental therapy station126. Further, in some embodiments, one or more of the dental impressionstation 106, the motion capture system 200, and the dental therapystation 126 are not in a dental office.

The example dental impression station 106 generates a dental impression108 of the dentition of the patient. The dental impression 108 is ageometric representation of the dentition of the patient, which mayinclude teeth (if any) and edentulous (gum) tissue. In some embodiments,the dental impression 108 is a physical impression captured using animpression material, such as sodium alginate, polyvinylsiloxane oranother impression material.

In some embodiments, the dental impression 108 is a digital impression.The digital impression may be represented by one or more of a pointcloud, a polygonal mesh, a parametric model, or voxel data. In someembodiments, the digital impression is generated directly from thedentition of the patient, using for example an intraoral scanner.Example intraoral scanners include the TRIOS Intra Oral Digital Scanner,the Lava Chairside Oral Scanner C.O.S., the Cadent iTero, the Cerec AC,the Cyrtina IntraOral Scanner, and the Lythos Digital Impression Systemfrom Ormco. In other embodiments, a digital impression is captured usingother imaging technologies, such as computed tomography (CT), includingcone beam computed tomography (CBCT), ultrasound, and magnetic resonanceimaging (MM). In yet other embodiments, the digital impression isgenerated from a physical impression by scanning the impression orplaster model of the dentition of the patient created from the physicalimpression. Examples of technologies for scanning a physical impressionor model include three-dimensional laser scanners and computedtomography (CT) scanners. In yet other embodiments, digital impressionsare created using other technologies.

An example motion capture system 200 captures a representation of themovement of the dental arches relative to each other. In someembodiments, the motion capture station generates motion data 110. Insome embodiments, the dental impression 108 is used to generate apatient-specific dentition coupling device for capturing patient motionusing the motion capture system 200. Some embodiments use other types ofmotion capture systems to generate motion data.

In some embodiments, the motion capture system 200 generates the motiondata 110 from optical measurements of the dental arches that arecaptured while the dentition of the patient is moved. In someembodiments, the optical measurements are extracted from image or videodata recorded while the dentition of the patient is moved. Additionally,in some embodiments, the optical measurements are captured indirectly.For example, in some embodiments, the optical measurements are extractedfrom images or video data of one or more devices (e.g., a patientassembly such as the patient assembly 204 that is illustrated anddescribed with respect to at least FIGS. 2 & 3 ) that are secured to aportion of the dentition of the patient. In other embodiments, themotion data 110 is generated using other processes. Further, in someembodiments, the motion data 110 includes transformation matrices thatrepresent the position and orientation of the dental arches. The motiondata 110 may include a series of transformation matrices that representvarious motions or functional paths of movement for the patient'sdentition. Other embodiments of the motion data 110 are possible aswell.

In some embodiments, still images are captured of the patient'sdentition while the dentition of the patient is positioned in aplurality of bite locations. In some embodiments, image processingtechniques are used to determine the positions of the patient's upperand lower arches relative to each other (either directly or based on thepositions of the attached patient assembly 204). In some embodiments,the motion data 110 is generated by interpolating between the positionsof the upper and lower arches determined from at least some of thecaptured images.

The motion data 110 may be captured with the patient's jaw in variousstatic positions or moving through various motions. For example, themotion data 110 may include a static measurement representing a centricocclusion (i.e., the patient's mandible closed with teeth fully engaged)or centric relation (i.e., the patient's mandible nearly closed, justbefore any shift occurs that is induced by tooth engagement or contact)bite of a patient. The motion data 110 may also include staticmeasurements or sequences of data corresponding to protrusive (i.e., thepatient's mandible being shifted forward while closed), lateralexcursive (i.e., the patient's mandible shifted/rotated left and rightwhile closed), hinging (i.e., the patient's mandible opening and closingwithout lateral movement), chewing (i.e., the patient's mandible chewingnaturally to, for example, determine the most commonly used toothcontact points), and border movements (i.e., the patient's mandible isshifted in all directions while closed, for example, to determine thefull range of motion) of the patient's jaw. In some implementations, themotion data is captured while the patient is using a Lucia jig or leafgauge so that the patient's teeth (for patients who are not completelyedentulous) do not impact/contribute to the movement data. This motiondata 110 may be used to determine properties of the patient'stemporomandibular joint (TMJ). For example, hinging motion of the motiondata 110 may be used to determine the location of the hinge axis of thepatient's TMJ.

In some implementations, a representation of the motion of the hingeaxis may be displayed while the motion data 110 is being captured. Forexample, a computing device may cause a line segment to be displayed inrelation to a representation of the patient's dentition. The linesegment may be displayed at a location that is approximately where thepatient's condyle is located. The line segment may move in concert withthe relative motion of the patient's mandible (lower dentition).Visually, the movement of the line may appear to rotate at a locationapproximately equal to the hinge axis of the patient's TMJ. Furthermore,during motion capture the caregiver may annotate the motion data toidentify portions of the motion data such as the motion datacorresponding to hinging open/closed. For example, the caregiver mayactuate an input such as a button on a user interface, a physicalbutton, or a foot pedal to annotate portions of the motion data.

The image capture system 107 may capture image data 109 of the patient.The image data 109 may include one or more static images or videos ofthe patient. The static images or frames with the image data 109 may beassociated with the motion data 110. For example, a specific image fromthe image data 109 may be associated with a specific frame of the motiondata 110, indicating that the specific image was captured while thepatient's jaw was in the position indicated by the specific frame of themotion data 110. In some implementations, the image capture system 107includes a three-dimensional camera and the image data 109 may includeone or more three-dimensional images. Examples of three-dimensionalcameras include stereo cameras (e.g., using two or more separate imagesensors that are offset from one another). The three-dimensional cameramay also include a projector such as a light projector or laserprojector that operates to project a pattern on the patient's face. Forexample, the projector may be offset relative to the camera or camerasso that the images captured by the camera include distortions of theprojected pattern caused by the patient's face. Based on thesedistortions, the three-dimensional structure of portions of thepatient's face can be approximated. Various embodiments project variouspatterns such as one or more stripes or fringes (i.e., sinusoidallychanging intensity values). In some implementations, thethree-dimensional image is captured in relation to the motion capturesystem 200 or a portion thereof so that the three-dimensional images canbe related to the same coordinate system as the motion data.

The example dental lab 104 includes a 3D scanner 112, a denture designsystem 116, a rapid fabrication machine 119, and a denture fabricationstation 122. Although shown as a single dental lab in this figure, insome embodiments, the dental lab 104 comprises multiple dental labs. Forexample, in some embodiments, the 3D scanner 112 is in a differentdental lab than one or more of the other components shown in the dentallab 104. Further, in some embodiments, one or more of the componentsshown in the dental lab 104 are not in a dental lab. For example, insome embodiments, one or more of the 3D scanner 112, denture designsystem 116, rapid fabrication machine 119, and denture fabricationstation 122 are in the dental office 102. Additionally, some embodimentsof the system 100 do not include all of the components shown in thedental lab 104.

The example 3D scanner 112 is a device configured to create athree-dimensional digital representation of the dental impression 108.In some embodiments, the 3D scanner 112 generates a point cloud, apolygonal mesh, a parametric model, or voxel data representing thedental impression 108. In some embodiments, the 3D scanner 112 generatesa digital dental model 114. In some embodiments, the 3D scanner 112comprises a laser scanner, a touch probe, or an industrial CT scanner.Yet other embodiments of the 3D scanner 112 are possible as well.Further, some embodiments of the system 100 do not include the 3Dscanner 112. For example, in some embodiments of the system 100 wherethe dental impression station 106 generates a digital dental impression,the 3D scanner 112 is not included. In these embodiments, the dentalimpression 108 may be the digital dental model 114 or may be useddirectly to generate the digital dental model 114.

The denture design system 116 is a system that is configured to generatedenture data 118. In some embodiments, the denture data 118 isthree-dimensional digital data that represents a denture component 120and is in a format suitable for fabrication using the rapid fabricationmachine 119.

The denture design system 116 may use the digital dental model 114, theimage data 109, and the motion data 110 to generate the denture data118. For example, the denture design system 116 may generate a denturebase having a geometric form that is shaped to fit a portion of thedigital dental model 114 (e.g., a portion of the model representing anedentulous region of the patient's dentition). The denture design system116 may also determine various parameters that are used to generate thedenture data 118 based on the image data 109. For example, embodimentsof the denture design system 116 may use various image processingtechniques to estimate a vertical dimension parameter from the imagedata 109. Additionally, the denture design system 116 may use the motiondata 110 to design the denture data 118. For example, the denture designsystem may use the motion data to ensure that the denture design avoidsinterferences with the opposing dentition (or dentures) during the bitemotion represented by the motion data 110.

In some embodiments, the denture design system 116 comprises a computingdevice including user input devices. The denture design system 116 mayinclude computer-aided-design (CAD) software that generates a graphicaldisplay of the denture data 118 and allows an operator to interact withand manipulate the denture data 118. In some implementations, thedenture design system 116 may include a user interface that allows auser to specify or adjust parameters of the denture design such asvertical dimension, overbite, overjet, or tip, torque, and rotationparameters for one or more denture teeth.

For example, the denture design system 116 may include virtual toolsthat mimic the tools and techniques used by a laboratory technician tophysically design a denture. In some implementations, the denture designsystem 116 includes a user interface tool to move a digitalrepresentation of the patient's dentition (e.g., the digital dentalmodel 114) according to the motion data 110 (which may be similar to aphysical articulator). Additionally, in some embodiments, the denturedesign system 116 includes a server that partially or fully automatesthe generation of designs of the denture data 118, which may use themotion data 110.

In some embodiments, the rapid fabrication machine 119 comprises one ormore three-dimensional printers, such as the ProJet line of printersfrom 3D Systems, Inc. of Rock Hill, South Carolina. Another example ofthe rapid fabrication machine 119 is stereolithography equipment. Yetanother example of the rapid fabrication machine 119 is a millingdevice, such as a computer numerically controlled (CNC) milling device.In some embodiments, the rapid fabrication machine 119 is configured toreceive files in the STL format. Other embodiments of the rapidfabrication machine 119 are possible as well.

Additionally, in some embodiments, the rapid fabrication machine 119 isconfigured to use the denture data 118 to fabricate the denturecomponent 120. In some embodiments, the denture component 120 is aphysical component that is configured to be used as part or all of thedenture 124. For example, in some embodiments, the denture component 120is milled from zirconium, acrylic, or another material that is useddirectly as a dental appliance. In other embodiments, the denturecomponent 120 is a mold formed from wax or another material and isconfigured to be used indirectly (e.g., through a lost wax casting orceramic pressing process) to fabricate the denture 124. Further, in someembodiments, the denture component 120 is formed using laser sinteringtechnology.

In some embodiments, the denture fabrication station 122 operates tofabricate a denture 124 for the patient. In some embodiments, thedenture fabrication station 122 uses the denture component 120 producedby the rapid fabrication machine 119. In some embodiments, the denture124 is a complete or partial denture. The denture 124 may include one orboth of a maxillary denture and a mandibular denture. In someembodiments, the denture 124 is formed from an acrylic, ceramic, ormetallic material. In some embodiments, the dental impression 108 isused in the fabrication of the denture 124. In some embodiments, thedental impression 108 is used to form a plaster model of the dentitionof the patient. Additionally, in some embodiments, a model of thedentition of the patient is generated by the rapid fabrication machine119. In some embodiments, the denture fabrication station 122 includesequipment and processes to perform some or all of the techniques used intraditional dental laboratories to generate dental appliances. Otherembodiments of the denture fabrication station 122 are possible as well.

In some embodiments, the denture 124 is seated in the mouth of thepatient in the dental therapy station 126 by a dentist. In someembodiments, the dentist confirms that the occlusal surface of thedenture 124 is properly defined by instructing the patient to engage invarious bites.

Additionally, in some embodiments, the dental office 102 is connected tothe dental lab 104 via a network. The network may be an electroniccommunication network that facilitates communication between the dentaloffice 102 and the dental lab 104. An electronic communication networkis a set of computing devices and links between the computing devices.The computing devices in the network use the links to enablecommunication among the computing devices in the network. The networkcan include routers, switches, mobile access points, bridges, hubs,intrusion detection devices, storage devices, standalone server devices,blade server devices, sensors, desktop computers, firewall devices,laptop computers, handheld computers, mobile telephones, and other typesof computing devices.

In various embodiments, the network includes various types of links. Forexample, the network can include one or both of wired and wirelesslinks, including Bluetooth, ultra-wideband (UWB), 802.11, ZigBee, andother types of wireless links. Furthermore, in various embodiments, thenetwork is implemented at various scales. For example, the network canbe implemented as one or more local area networks (LANs), metropolitanarea networks, subnets, wide area networks (such as the Internet), orcan be implemented at another scale.

In some implementations, the system 100 also plans treatments forimplant supported dentures. For example, the system 100 may determineappropriate positions for implants based on a denture design. Someembodiments may generate digital design data for an implant surgicalguide and fabricate the implant surgical guide using rapid fabricationtechnology. Beneficially, in at least some of these implementations, thelocation of implants can be determined based, at least in part, on thedesign of the final dentures.

Although not shown in this figure, some implementations of the systemmay integrate with one or more of an inventory management system and aparts management system. Based on the design of a denture orimplant-supported denture treatment plan, a part pick list may begenerated that lists the different components (e.g., denture teeth,implant abutments, support components). An inventory system may also beupdated to adjust the quantities of parts and one or more orders may begenerated and directed to one or more suppliers.

FIG. 2 is a schematic block diagram illustrating an example motioncapture system 200 for capturing jaw movement. In this example, themotion capture system 200 includes an imaging system 202, a patientassembly 204, and a motion determining device 206. Also shown in FIG. 1are a patient and a network.

In some embodiments, the imaging system 202 includes an optical sensingassembly 210 and a screen assembly 212. The optical sensing assembly 210may capture a plurality of images as the patient's jaw moves. Forexample, the optical sensing assembly 210 may include one or morecameras such as video cameras. In some embodiments, the optical sensingassembly 210 captures a plurality of images that do not necessarilyinclude the patient assembly, but can be used to determine the positionof the patient assembly 204. For example, the patient assembly 204 mayemit lights that project onto surfaces of the screen assembly 212 andthe optical sensing assembly 210 may capture images of those surfaces ofthe screen assembly 212. In some implementations, the optical sensingassembly 210 does not capture images but otherwise determines theposition of the projected light or lights on the surfaces of the screenassembly 212.

The screen assembly 212 may include one or more screens. A screen mayinclude any type of surface upon which light may be projected. Someimplementations include flat screens that have a planar surface. Someimplementations may include rounded screens, having cylindrical (orpartially cylindrical) surfaces. The screens may be formed from atranslucent material. For example, the locations of the lights projectedon the screens of the screen assembly 212 may be visible from a side ofthe screens opposite the patient assembly 204 (e.g., the screen assembly212 may be positioned between the optical sensing assembly 210 and thepatient assembly 204).

In addition to capturing the images, the imaging system 202 may captureor generate various information about the images. As an example, theimaging system 202 may generate timing information about the images.Although alternatives are possible, the timing information can include atimestamp for each of the images. Alternatively or additionally, a framerate (e.g., 10 frames/second, 24 frames/second, 60 frames/second) isstored with a group of images. Other types of information that can begenerated for the images includes an identifier of a camera, a positionof a camera, or settings used when capturing the image.

The patient assembly 204 is an assembly that is configured to be securedto the patient. The patient assembly 204 or parts thereof may be worn bythe patient and may move freely with the patient (i.e., at least a partof the patient assembly 204 may, when mounted to the patient, move inconcert with patient head movement). In contrast, in at least someimplementations, the imaging system 202 is not mounted to the patientand does not move in concert with patient head movement.

In some embodiments, the patient assembly 204 may include light emitters(or projectors) that emit a pattern of light that projects on one ormore surfaces (e.g., screens of the screen assembly 212), which can beimaged to determine the position of the patient assembly 204. Forexample, the light emitters may emit beams of substantially collimatedlight (e.g., laser beams) that project onto the surfaces as points.Based on the locations of these points on the surfaces, a coordinatesystem can be determined for the patient assembly 204, which can then beused to determine a position and orientation of the patient assembly 204and the patient's dentition.

In some embodiments, the patient assembly 204 includes separatecomponents that are configured to be worn on the upper dentition and thelower dentition and to move independently of each other so that themotion of the lower dentition relative to the upper dentition can bedetermined. Examples of the patient assembly 204 are illustrated anddescribed throughout, including in FIG. 3 .

The motion determining device 206 determines the motion of the patientassembly 204 based on images captured by the imaging system 202. In someembodiments, the motion determining device 206 includes a computingdevice that uses image processing techniques to determinethree-dimensional coordinates of the patient assembly 204 (or portionsof the patient assembly) as the patient's jaw is in different positions.For example, images captured by the optical sensing assembly 210 ofscreens of the screen assembly 212 may be processed to determine thepositions on the screens at which light from the patient assembly isprojected. These positions on the screens of the screen assembly 212 maybe converted to three-dimensional coordinates with respect to the screenassembly 212. From those three-dimensional coordinates, one or morepositions and orientations of the patient assembly 204 (or components ofthe patient assembly 204) may be determined.

Based on the determined positions and orientations of the patientassembly 204, some embodiments determine the relative positions andmovements of the patient's upper and lower dentition. Further, someembodiments infer the location of a kinematically derived axis that isusable in modeling the motion of the patient's mandible (including thelower dentition) about the temporomandibular joint. The kinematicallyderived axis may be a hinge axis or a screw axis. For example, the hingeaxis may be derived from a portion of the motion data (e.g., the motiondate corresponding to a hinging open/closed of the patient's jaw). Thehinge axis location may also be determined based on radiographic imagingsuch as CBCT data. Additional motion data may be synthesized based onthe location of the hinge axis. For example, if the location of thehinge axis is inferred based on motion data corresponding to hingingopen/closed, motion data for other bite movements (e.g., excursive orprotrusive movements) may be synthesized based on that hinge axis.

FIG. 3 illustrates a block diagram of an example patient assembly 204.In this example, the patient assembly includes a clutch 220 and areference structure 222. Here, the clutch 220 and the referencestructure 222 are not physically connected and can move independently ofone another.

The clutch 220 is a device that is configured to couple to a patient'sdentition. For example, the clutch 220 may grip any remaining teeth ofthe dentition of the patient. In some embodiments, the clutch 220 maycouple to an edentulous region of a patient's dentition or to dentalimplants that have been placed in edentulous regions of the patient'sdentition.

In some embodiments, the clutch 220 comprises a dentition couplingdevice 224 and a position indicator system 228. In some embodiments, theclutch 220 is configured to couple to the lower dentition of the patientso as to move with the patient's mandible. In other embodiments, theclutch 220 may be configured to couple to the patient's upper dentitionso as to move with the patient's maxilla.

The dentition coupling device 224 is configured to removably couple tothe patient's dentition. In some embodiments, the dentition couplingdevice 224 rigidly couples to the patient's dentition such that whilecoupled, the movement of the dentition coupling device 224 relative tothe patient's dentition is minimized. Various embodiments includevarious coupling mechanisms.

For example, some embodiments couple to the patient's dentition usingbrackets that are adhered to the patient's teeth with a dental ororthodontic adhesive. As another example, some embodiments couple to thepatient's dentition using an impression material. For example, someembodiments of the dentition coupling device 224 comprise an impressiontray and an impression material such as polyvinyl siloxane. To couplethe dentition coupling device 224 to the patient's dentition, theimpression tray is filled with impression material and then placed overthe patient's dentition. As the impression material hardens, thedentition coupling device 224 couples to the patient's dentition.

Alternatively, some embodiments comprise a dentition coupling device 224that is custom designed for a patient based on a three-dimensional modelof the patient's dentition. For example, the dentition coupling device224 may be formed using a rapid fabrication machine. One example of arapid fabrication machine is a three-dimensional printer, such as thePROJET® line of printers from 3D Systems, Inc. of Rock Hill, SouthCarolina. Another example of a rapid fabrication machine is a millingdevice, such as a computer numerically controlled (CNC) milling device.In these embodiments, the dentition coupling device 224 may comprisevarious mechanical retention devices such as clasps that are configuredto fit in an undercut region of the patient's dentition or wrap aroundany remaining teeth.

Embodiments of the dentition coupling device 224 may couple to thepatient's dentition using a combination of one or more mechanicalretention structures, adhesives, and impression materials. For example,the dentition coupling device 224 may include apertures through which afastening device (also referred to as a fastener) such as a temporaryanchorage device may be threaded to secure the dentition coupling device224 to the patient's dentition, gum tissue, or underlying bone tissue.For example, the temporary anchorage devices may screw into thepatient's bone tissue to secure the dentition coupling device 224.

In some embodiments, the dentition coupling device 224 includes one ormore fiducial markers, such as hemispherical inserts, that can be usedto establish a static relationship between the position of the clutch220 and the patient's dentition. For example, the dentition couplingdevice 224 may include three fiducial markers disposed along itssurface. The location of these fiducial markers can then be determinedrelative to the patient's dentition such as by capturing a physicalimpression of the patient with the clutch attached or using imagingtechniques such as capturing a digital impression (e.g., with anintraoral scanner) or other types of images of the dentition andfiducial markers. Some embodiments of the dentition coupling device 224do not include fiducial markers. One or more images or a digitalimpression of the patient's dentition captured while the dentitioncoupling device 224 is mounted may be aligned to one or more images or adigital impression of the patient's dentition captured while thedentition coupling device 224 is not mounted.

The position indicator system 228 is a system that is configured to beused to determine the position and orientation of the clutch 220. Insome embodiments, the position indicator system 228 includes multiplefiducial markers. In some examples, the fiducial markers are spheres.Spheres work well as fiducial markers because the location of the centerof the sphere can be determined in an image regardless of the angle fromwhich the image containing the sphere was captured. The multiplefiducial markers may be disposed (e.g., non-collinearly) so that bydetermining the locations of each (or at least three) of the fiducialmarkers, the position and orientation of the clutch 220 can bedetermined. For example, these fiducial markers may be used to determinethe position of the position indicator system 228 relative to thedentition coupling device 224, through which the position of theposition indicator system 228 relative to the patient's dentition can bedetermined.

Some implementations of the position indicator system 228 do not includeseparate fiducial markers. In at least some of these implementations,structural aspects of the position indicator system 228 may be used todetermine the position and orientation of the position indicator system228. For example, one or more flat surfaces, edges, or corners of theposition indicator system 228 may be imaged to determine the positionand orientation of the position indicator system 228. In someimplementations, an intraoral scanner is used to capture athree-dimensional model (or image) that includes a corner of theposition indicator system 228 and at least part of the patient'sdentition while the dentition coupling device 224 is mounted. Thisthree-dimensional model can then be used to determine a relationshipbetween the position indicator system 228 and the patient's dentition.The determined relationship may be a static relationship that definesthe position and orientation of the position indicator system 228relative to a three-dimensional model of the patient's dentition (e.g.,based on the corner of the position indicator system 228 that wascaptured by the intraoral scanner).

In some embodiments, the position indicator system 228 includes a lightsource assembly that emits beams of light. The light source assembly mayemit substantially collimated light beams (e.g., laser beams). In someembodiments, the light source assembly is rigidly coupled to thedentition coupling device 224 so that as the dentition coupling device224 moves with the patient's dentition, the beams of light move. Theposition of the dentition coupling device 224 is then determined bycapturing images of where the light beams intersect with varioussurfaces (e.g., translucent screens disposed around the patient).Embodiments that include a light source assembly are illustrated anddescribed throughout.

The reference structure 222 is a structure that is configured to be wornby the patient so as to provide a point of reference to measure themotion of the clutch 220. In embodiments where the clutch 220 isconfigured to couple to the patient's lower dentition, the referencestructure 222 is configured to mount elsewhere on the patient's head sothat the motion of the clutch 220 (and the patient's mandible) can bemeasured relative to the rest of the patient's head. For example, thereference structure 222 may be worn on the upper dentition.Beneficially, when the reference structure 222 is mounted securely tothe patient's upper dentition, the position of the reference structure222 will not be impacted by the movement of the mandible (e.g., muscleand skin movement associated with the mandibular motion will not affectthe position of the reference structure 222). Alternatively, thereference structure 222 may be configured to be worn elsewhere on thepatient's face or head.

In some embodiments, the reference structure 222 is similar to theclutch 220 but configured to be worn on the dental arch opposite theclutch (e.g., the upper dentition if the clutch 220 is for the lowerdentition). For example, the reference structure 222 shown in FIG. 3includes a dentition coupling device 230 that may be similar to thedentition coupling device 224, and a position indicator system 234 thatmay be similar to the position indicator system 228.

In some implementations, the patient assembly 204 includes a gothic archtracer. For example, the clutch 220 may include one or more tracingcomponents that may move across a surface of the reference structure222. The tracing components may have adjustable heights.

FIG. 4 illustrates an embodiment of a clutch 400. The clutch 400 is anexample of the clutch 220. In this example, the clutch 400 includes adentition coupling device 402 and a light source assembly 404, and anextension member 408. The dentition coupling device 402 is an example ofthe dentition coupling device 224, and the light source assembly 404 isan example of the position indicator system 228.

The light source assembly 404, which may also be referred to as aprojector, is a device that emits light beams comprising light that issubstantially collimated. Collimated light travels in one direction. Alaser beam is an example of collimated light. In some embodiments, thelight source assembly 404 includes one or more lasers. Althoughalternatives are possible, the one or more lasers may be semiconductorlasers such as laser diodes or solid-state lasers such as diode-pumpedsolid-state lasers.

In some embodiments, the light source assembly 404 comprises a first,second, and third light emitter. The first and second light emitters mayemit substantially collimated light in parallel but opposite directions(i.e., the first and second light emitters may emit light inantiparallel directions) such as to the left and right of the patientwhen the clutch 400 is coupled to the patient's dentition. In someembodiments, the first and second light emitters are collinear or aresubstantially collinear (e.g., offset by a small amount such as lessthan 5 micrometers, less than 10 micrometers, less than 25 micrometers,less than 50 micrometers, or less than 100 micrometers). The third lightemitter may emit substantially collimated light in a direction of a linethat intersects with or substantially intersects with linescorresponding to the direction of the first and second light emitters.Lines that intersect share a common point. Lines that substantiallyintersect do not necessarily share a common point, but would intersectif offset by a small amount such as less than 5 micrometers, less than10 micrometers, less than 25 micrometers, less than 50 micrometers, orless than 100 micrometers. In some embodiments, the third light emitteremits light in a direction that is perpendicular to the first and secondlight emitters, such as toward the direction the patient is facing.

In some embodiments, the third light emitter emits light in a directionthat is offset from the direction of the first light emitter so as to bedirected toward the same side of the patient as the direction of thefirst light emitter. For example, the third light emitter may be offsetfrom the first light emitter by an offset angle that is an acute angle.The third light emitter may be offset from the first light emitter by anoffset angle that is less than 90 degrees such that the light emitted byboth the first light emitter and the second light emitter intersect withthe same screen (e.g., a planar screen having a rectangular shape andbeing disposed on a side of the patient). The third light emitter may beoffset from the first light emitter by an offset angle of betweenapproximately 1 degree to 45 degrees. In some implementations, theoffset angle is between 3 degrees and 30 degrees. In someimplementations, the offset angle is between 5 degrees and 15 degrees.For example, the offset angle may be less than 10 degrees.

In some embodiments, one or more compensation factors are determined tocompensate for an offset from the first and second light emitters beingcollinear, or an offset from the third light emitter emitting light in adirection of a line that intersects with the directions of the first andsecond light sources. A compensation factor may also be determined forthe offset angle of the third light emitter with respect to the firstand second light emitters. For example, an offset angle compensationfactor may specify the angle between the direction of the third lightemitter and a line defined by the first light emitter. Inimplementations in which the orientation of the third light emitter isdirected perpendicular to or substantially perpendicular to thedirection of the first light emitter, the offset angle compensationfactor may be 90 degrees or approximately 90 degrees. In implementationsin which the orientation of the third light emitter is directed toward aside of the patient, the offset angle compensation factor may, forexample, be between approximately 5 and 45 degrees. The compensationfactors may be determined specifically for each position indicatorsystem manufactured to account for minor variation in manufacturing andassembly. The compensation factors may be stored in a datastore (such ason the motion determining device 206 or on a computer readable mediumaccessible by the motion determining device 206). Each positionindicator system may be associated with a unique identifier that can beused to retrieve the associated compensation factor. The positionindicator system 234 may include a label with the unique identifier or abarcode, QR code, etc. that specifies the unique identifier.

Some embodiments of the light source assembly 404 include a single lightsource and use one or more beam splitters such as prisms or reflectorssuch as mirrors to cause that light source to function as multiple lightemitters by splitting the light emitted by that light source intomultiple beams. In at least some embodiments, the emitted light emanatesfrom a common point. As another example, some embodiments of the lightsource assembly 404 may comprise apertures or tubes through which lightfrom a common source is directed. Some embodiments may include separatelight sources for each of the light emitters.

In the example of FIG. 3 , the light source assembly 404 includes lightemitters 406 a, 406 b, and 406 c (referred to collectively as lightemitters 406) and a housing 410. The light emitter 406 a is emitting alight beam L1, the light emitter 406 b is emitting a light beam L2, andthe light emitter 406 c is emitting a light beam L3. The light beams L1and L2 are parallel to each other, but directed in opposite directions.The light beam L3 is perpendicular to the light beams L1 and L2. In atleast some embodiments, the housing 410 is configured to position thelight emitters 406 so that the light beams L1, L2, and L3 areapproximately coplanar with the occlusal plane of the patient'sdentition. Although the light beam L3 is perpendicular to the lightbeams L1 and L2 in the example of FIG. 3 , alternatives are possible.

The housing 410 may be approximately cube shaped and includes aperturesthrough which the light emitters 406 extend. In other embodiments, thelight emitters do not extend through apertures in the housing 410 andinstead light emitted by the light emitters 406 passes through aperturesin the housing 410.

In the example of FIG. 4 , the dentition coupling device 402 is rigidlycoupled to the light source assembly 404 by an extension member 408. Theextension member 408 extends from the dentition coupling device 402 andis configured to extend out of the patient's mouth when the dentitioncoupling device 402 is worn on the patient's dentition. In someembodiments, the extension member 408 is configured so as to bepermanently attached to the light source assembly 404 such as by beingformed integrally with the housing 410 or joined by welding or apermanent adhesive. In other embodiments, the extension member 408 isconfigured to removably attach to the light source assembly 404. Becausethe light source assembly 404 is rigidly coupled to the dentitioncoupling device 402, the position and orientation of the dentitioncoupling device 402 can be determined from the position and orientationof the light source assembly 404.

In some embodiments, the housing 410 and the dentition coupling device402 are integral (e.g., are formed from a single material or are coupledtogether in a manner that is not configured to be separated by a user).In some embodiments, the housing 410 includes a coupling structureconfigured to removably couple to the extension member 408 of thedentition coupling device 402. In this manner, the dentition couplingdevice 402 can be a disposable component that may be custom fabricatedfor each patient, while the light source assembly 404 may be reused withmultiple dentition coupling devices. In some embodiments, the housing410 includes a connector that is configured to mate with a connector onthe dentition coupling device 402.

Additionally or alternatively, the housing 410 may couple to thedentition coupling device 402 with a magnetic clasp. Some embodimentsinclude a registration structure that is configured to cause the housing410 to join with the dentition coupling device 402 in a repeatablearrangement and orientation. In some embodiments, the registrationstructure comprises a plurality of pins and corresponding receivers. Inan example, the registration structure includes a plurality of pinsdisposed on the housing 410 and corresponding receivers (e.g., holes) inthe dentition coupling device 402 (or vice versa). In some embodiments,the registration structure comprises a plurality of sphericalattachments and a plurality of grooves. In one example, the registrationstructure includes three or more spherical attachments disposed on thehousing 410 and two or more v-shaped grooves disposed on the dentitioncoupling device 402 that are disposed such that the sphericalattachments will only fit into the grooves when the housing 410 is in aspecific orientation and position relative to the dentition couplingdevice 402. In some implementations, the registration structure includesa spring-mounted pin or screw that serves as a detent to impede movementof the housing 410 with respect to the dentition coupling device 402.

FIGS. 5A-B are cross-sectional side views that illustrate the attachmentof an embodiment of a dentition coupling device 520 to a dental implant522. The dentition coupling device 520 is an example of the dentitioncoupling device 224 or the dentition coupling device 230. The dentitioncoupling device 520 may include one or more fixed arms and one or morepivotable arms that can be positioned to align with the patient'sdentition.

FIG. 5A is a cross-sectional side view that illustrates an implantabutment 526 attached to a dental implant 522 that is disposed in thepatient's gingival tissue G. The implant abutment 526 is held in placewith an implant screw 524. The implant screw 524 has threads that matewith corresponding threads in a receiver of the dental implant 522. Apatient receiving dentures may have several dental implants placed tosupport and secure the denture.

FIG. 5B is a cross-sectional side view of the dental implant 522 andgingival tissue G with the implant abutment 526 removed and thedentition coupling device 520 attached to the dental implant 522. Here,the implant screw 524 passes through a slot 592 of an arm 590 of thedentition coupling device 520, through an offset 528, and into thedental implant 522. As shown in this figure, at least a portion of thethreads of the implant screw 524 are interlocked with the threads of thereceiver of the dental implant 522. The offset 528 may be a cylindricalstructure that includes an aperture through which a portion of theimplant screw 524 may pass. For example, an aperture in the offset 528may allow passage of the threaded portion of the implant screw 524 butnot the head of the implant screw 524. The offset 528 may be sized inthe occlusal dimension (0) so as to offset the arm 590 from the gingivaltissue G.

Some implementations use a washer to couple the implant screw 524 to thearm 590 (e.g., when an aperture in the arm 590 is larger than the headof the screw). The washer may be formed from a flexible material such asrubber. In some implementations, the arm 590 may be secured to thethreads of the receiver of the dental implant 522 with a scanningabutment. A scanning abutment may include a threaded region that issized to fit into and mate with the threads of the receiver of thedental implant 522. The scanning abutment may also include a fiducialstructure that can used to determine a location and orientation of theimplant 522 when the scanning abutment is attached. For example, thescanning abutment may be imaged with a component of the image capturesystem (e.g., an intraoral scanner or a 2D or 3D camera) to determinethe locations of the associated dental implant.

FIG. 6 illustrates an implementation of a motion capture system 600 forcapturing jaw movement in which only two screens are used. The motioncapture system 600 is an example of the motion capture system 200. Themotion capture system 600 includes an imaging system 602 and a patientassembly 604. In this example, the imaging system 602 includes a housing610. The imaging system also includes screen 638 a and a screen 638 b(collectively referred to as screens 638), which are positioned so as tobe on opposite sides of the patient's face (e.g., screen 638 b to theleft of the patient's face and screen 638 a to the right of thepatient's face). In some implementations, a screen framework is disposedwithin the housing 610 to position the screens 638 with respect to eachother and the housing 610.

As can be seen in FIG. 6 , this implementation does not include a screendisposed in front of the patient's face. Beneficially, by not having ascreen in front of a patient's face, the motion capture system 600 mayallow better access to the patient's face by a caregiver. Also shown ispatient assembly 604 of the motion capture system 600.

In at least some implementations, the patient assembly 604 includes aclutch 620 and a reference structure 622, each of which include a lightsource assembly having three light emitters. The clutch 620 is anexample of the clutch 220 and the reference structure 622 is an exampleof the reference structure 222. In FIG. 6 , the clutch 620 is attachedto the patient's mandible (i.e., lower dentition) and is emitting lightbeams L1, L2, and L3. Light beams L1 and L3 are directed toward thescreen 638 a, intersecting at intersection points I1 and I3,respectively. Light beam L2 is directed toward the screen 638 b.Although alternatives are possible, in this example, the light beams L1and L3 are offset from each other by approximately 15 degrees. The lightbeams L1 and L2 are collinear and directed in opposite directions (i.e.,L2 is offset from L1 by 180 degrees).

The reference structure 622 is attached to the patient's maxilla (i.e.,upper dentition) and is emitting light beams L4, L5, and L6. Light beamsL4 and L6 are directed toward the screen 638 b. Light beam L5 isdirected toward the screen 638 a, intersecting at intersection point I5.Although alternatives are possible, in this example, the light beams L4and L6 are offset from each other by approximately 15 degrees. The lightbeams L4 and L5 are collinear and directed in opposite directions (i.e.,L4 is offset from L5 by 180 degrees).

As the patient's dentition moves around, the clutch 620 and thereference structure 622 will move in concert with the patient'sdentition, causing the light beams to move and the intersection pointsto change. An optical sensing assembly of the motion capture system 600(e.g., cameras embedded within the housing 610 of the motion capturesystem 600 behind the screens 638 a and 638 b) may capture images of thescreens 638 so that the intersection points can be determined.

The location of a first axis associated with the clutch 620 may beidentified based on the intersection points from the light beams L1 andL2. An intersection coordinate between the light beams L1 and L3 maythen be determined based on the distance between the intersection pointsI1 and I3 on the screen 638 a. For example, the distance from theintersection point I1 along the first axis can be determined based onthe distance between the points I1 and I3 and the angle between I1 andI3. As described in more detail elsewhere herein, the angle between I1and I3 is determined for the clutch 620 and may be stored in a datastore, for example, on a non-transitory computer-readable storagemedium. Using this distance, the intersection coordinate can be found,which will have a known relationship to the clutch 620 and therefore thepatient's dentition. As has been described earlier, a coordinate systemfor the clutch 620 can be determined based on the intersection pointstoo (e.g., a second axis is defined by the cross product of the firstaxis and a vector between the intersection points I1 and I3, and a thirdaxis is defined by the cross product of the first axis and the secondaxis). In a similar manner, the position and orientation of thereference structure 622 can be determined based on the intersectionpoints of the light beams L4, L5, and L6 with the screens 638 a and 638b.

In some implementations, three-dimensional coordinate systems for theclutch and the reference structure are determined using only twoscreens. In some implementations, the motion capture system includesonly two screens and the motion capture system does not include a thirdscreen. In some implementations, the imaging system captures images ofonly two screens. Some implementations identify intersection pointsusing images captured of only two screens. For example, two intersectionpoints from light beams emitted by a reference structure are identifiedon an image of the same screen.

In some implementations, a light emitter being oriented to emit light ina first direction toward the screen means the light emitter is orientedto emit light in a first direction toward the screen when the lightemitter is attached to a patient (or other structure) and positioned formotion tracking with respect to the imaging system.

FIG. 7 illustrates a top view of an embodiment of a reference structure730 and an embodiment of an imaging system 732. The reference structure730 is an example of the reference structure 622. The imaging system 732is an example of the imaging system 602.

The reference structure 730 includes a dentition coupling device 734, anextension member 740, and a light source assembly 742. The dentitioncoupling device 734 is an example of the dentition coupling device 230and may be similar to the example dentition coupling devices previouslydescribed with respect to embodiments of the clutch. The light sourceassembly 742 is an example of the position indicator system 234. In thisexample, the light source assembly 742 includes light emitters 750 a,750 b, and 750 c (collectively referred to as light emitters 750).

The dentition coupling device 734 is configured to removably couple tothe dentition of the patient. The dentition coupling device 734 iscoupled to the opposite arch of the patient's dentition as the clutch(e.g., the dentition coupling device 734 of the reference structure 730couples to the maxillary arch when a clutch is coupled to the mandibulararch). In some embodiments, the dentition coupling device 734 is coupledto the extension member 740 that is configured to extend out through thepatient's mouth when the dentition coupling device 734 is coupled to thepatient's dentition. The extension member 740 may be similar to theextension member 408.

The imaging system 732 includes screens 738 a and 738 b (referred tocollectively as screens 738), and cameras 720 a and 720 b (referred tocollectively as cameras 720). In this example, the screen 738 a isoriented parallel to the screen 738 b. In some embodiments, the imagingsystem 732 may also include a screen framework (not shown) thatpositions the screens 738 with respect to each other. For example, thescreen framework may extend beneath the reference structure 730 andcouple to the bottoms of the screens 738. Together, the screens 738 andthe screen framework are an example of the screen assembly 212. Thecameras 720 are an example of the optical sensing assembly 210.

The screens 738 may be formed from a translucent material so that thepoints where the light beams emitted by the light source assembly 742intersect with the screens 738 may be viewed from outside of the screens738. Images that include these points of intersection may be recorded bythe cameras 720. The motion determining device 206 may then analyzethese captured images to determine the points of intersection of thelight beams with the screens 738 to determine the location of the lightsource assembly 742. The position of the light source assembly of aclutch (not shown) may be determined in a similar manner.

The cameras 720 are positioned and oriented to capture images of thescreens 738. For example, the camera 720 a is positioned and oriented tocapture images of the screen 738 a, and the camera 720 b is positionedand oriented to capture images of the screen 738 b. In some embodiments,the cameras 720 are mounted to the screen framework so that the positionand orientation of the cameras 720 are fixed with respect to thescreens. For example, each of the cameras 720 may be coupled to thescreen framework by a camera mounting assembly. In this manner, theposition and orientation of the cameras 720 relative to the screens 738does not change if the screen framework is moved. In someimplementations, the screen framework includes a housing (e.g., as shownat 610 in FIG. 6 ), within which the cameras 720 are disposed.

FIG. 8 illustrates a perspective view of the reference structure 730disposed between the screens 738 of the imaging system 732. The screens738 are joined together by a screen framework 736 that positions andorients the screens 738 with respect to one another. In this example,the light emitter 750 a is emitting a light beam L4, which intersectswith the screen 738 b at intersection point I4; the light emitter 750 bis emitting a light beam L5, which intersects with the screen 738 a atintersection point I5; and the light emitter 750 c is emitting a lightbeam L6, which intersects with the screen 738 a at intersection pointI6. As the position and orientation of the reference structure 730change relative to the screens 738, the locations of at least some ofthe intersection points I4, I5, and I6 will change as well.

The camera 720 a captures images of the screen 738 a, including theintersection point IS of the light beam L5 emitted by the light emitter750 b. The camera 720 a may capture a video stream of these images.Similarly, although not shown in this illustration, the camera 720 bcaptures images of the screens 738 b and the intersection points I4 andI6.

The captured images from the cameras 720 are then transmitted to themotion determining device 206. The motion determining device 206 maydetermine the location of the intersection points I4, I5, and I6, andfrom those points the location of the light source assembly 742. In someembodiments, a point of common intersection for the light beams L4, L5,and L6 is determined based on the location of the intersection pointsI4, I5, and I6 (e.g., the point at which the light beams intersect orwould intersect if extended). Based on the determined locations of thelight beams, the location and orientation of the reference structure 730relative to the screens 738 can be determined.

FIG. 9 is a flowchart of an example process 900 for fabricating adenture based on motion data. In some embodiments, the process 900 isperformed by the system 100.

At operation 902, digital patient data, including motion data and adigital dental model, is acquired. For example, the digital patient datamay include imaging data of the patient dentition. The imaging data maybe captured using various imaging modalities. In some implementations,the imaging data includes a three-dimensional digital dental model ofthe patient's dentition. The three-dimensional digital dental model maybe captured using an intraoral scanner. The three-dimensional digitaldental model may be captured by scanning a physical impression or moldformed from a physical impression using a three-dimensional scanner.

The acquired digital patient data may also include motion data of thepatient's jaw. For example, the motion data may be captured using themotion capture system 200. The motion data may represent the patient'sjaw moving through various jaw movements including, for example,excursive movements and protrusive movements. The motion data may alsorepresent that patient's jaw position and movement as the patientpronounces specific phonetic sounds such as the “F” sound and the “S”sound. In some implementations, audio or video files may be captured asthe patient pronounces the specific sounds. The motion data may map toframes or positions in the video or audio data. Based on soundprocessing (e.g., audio signal processing) of the audio data or imageprocessing of the video data, various positions in the patient's speechmay be identified and the corresponding frame of the motion data may beidentified.

The acquired digital patient data may also include one or more anteriorfacial images of the patient. The anterior facial images may includetwo-dimensional images or three-dimensional images. In someimplementations, the anterior facial images include an image of thepatient smiling and an image of the patient with lips in repose (e.g.,relaxed). The anterior facial images may also include videos. Forexample, the videos may include video of the patient performing variousjaw movements such as excursive movements and protrusive movements. Thevideos may also include video of the patient pronouncing specificphonetic sounds such as sibilants (e.g., the “S” sound) or fricatives(e.g., the “F” sound).

The acquired digital patient data may also include other types ofpatient images captured using imaging modalities such as computedtomography (CT), including cone beam computed tomography (CBCT),ultrasound, and magnetic resonance imaging (MRI).

At operation 904, the digital patient data is integrated. For example,the digital patient data may be integrated to a common coordinate system(e.g., positioned relative to the same XYZ axes). Different types ofdigital patient data may be integrated using different techniques. Forexample, three-dimensional data sets may be integrated using for examplean iterative alignment process such as an iterative closest pointtechnique. In some embodiments, multiple types of the digital patientdata include fiducial markers. The positions of the fiducial markers maybe determined from the digital patient data and used to align one set ofdigital patient data with another.

In some implementations, the digital patient data includestwo-dimensional images captured with a camera of the image capturesystem 107. A polygon may be generated within the common coordinatesystem. The two-dimensional images may be mapped to the polygon.

At operation 906, a vertical dimension of occlusion and an occlusalplane position and orientation is determined for the patient. Thedetermined vertical dimension of occlusion indicates the desiredposition of the patient's mandible and maxilla when the patient's jaw isat rest. The vertical dimension of occlusion may correspond to a totaldistance between edentulous ridges to accommodate dentures with adesired amount of occlusal open space when the patient is at rest. Thevertical dimension of occlusion influences the function, comfort, andaesthetics of dentures. The determined occlusal plane may correspond toa plane disposed between the patient's maxilla and mandible thatapproximately corresponds to where the occlusal surfaces of thepatient's teeth meet. The occlusal plane may, for example, be positionedat a desired location of the incisal edge of the patient's upper centralincisors, which may be determined from photos of the patient or using agothic arch tracer. The occlusal plane may be oriented based on themotion data. Although often referred to as an occlusal plane in thedenture and dental fields, the occlusal plane need not be preciselyplanar and may vary from a plane to follow the curve of the patient'slips.

In some implementations, the vertical dimension of occlusion may bespecified by a care provider such as dentist or physician. The verticaldimension of occlusion may also be determined based, at least in part,on motion data of the digital patient data. For example, motion datawhile the patient is pronouncing specific sounds such as sibilants(e.g., the “S” sound) or fricatives (e.g., the “F” sound). A desiredvertical dimension of occlusion may be determined from the relativepositions of the maxilla and mandible as the sounds are pronounced. Thevertical dimension of occlusion may also be determined from atwo-dimensional facial image of the digital patient data.

The occlusal plane may, for example, be determined based on applying aratio to the vertical dimension of occlusion. In some implementations,the occlusal plane may be determined based on the two-dimensional facialimage of the digital patient data. For example, the occlusal plane maybe positioned so as to align the incisal edges of the upper centralincisors with respect to the patient's lips.

At operation 908, the digital dental model of the digital patient datais positioned based on the position and orientation of the occlusalplane. For example, a portion of the digital dental model representingthe mandibular dental arch may be positioned based on the motion data soas to be positioned at the determined vertical dimension with respect tothe maxillary dental arch and so that the denture teeth on themandibular arch align with the occlusal plane. In some implementations,a frame of the motion data that positions the mandibular dental arch atthe determined vertical dimension is identified. In someimplementations, the mandibular dental arch is rotated about a hingeaxis to open to the determined vertical dimension of occlusion. Theposition of the hinge axis may be inferred based on the motion data.

In some implementations, the denture design system 116 includes a userinterface that displays the digital dental model, the occlusal plane, orboth. The user interface may be configured to receive user input toadjust the vertical dimension of occlusion or the position of theocclusal plane. For example, the user interface may be configured toreceive a drag (e.g., click-and-drag or touch-and-drag) input tointeractively move the mandibular arch of the digital dental model up ordown along an arch defined by the motion data or a hinge axis inferredfrom the motion data. Similarly, the user interface may be configured tointeractively move the occlusal plane along the arch between themandibular arch and maxillary arch of the digital dental model.

FIG. 10 includes an example user interface screen 1000 that may begenerated by the denture design system 116 to display an exampleocclusal plane in relation to example mandibular dentition. In thisexample, the occlusal plane is highlighted, indicating that it isselected and that a user may provide input to reposition the plane. Forexample, the user interface may allow a user to drag the occlusal planeup or down. In some implementations, the digital denture teeth may movewith the occlusal plane. In some implementations, the occlusal plane maybe adjusted independently of the digital denture teeth. The userinterface may be configured to accept one or more inputs (e.g., a buttonor menu actuation) to cause the digital denture teeth to move (or snap)to the occlusal plane. In at least some implementations, the occlusalplane may be displayed with respect to one arch, while the digitaldenture teeth of the other arch move with the occlusal plane.

Returning now to FIG. 9 , at operation 910, an occlusal guidance surfaceis generated based on the motion data. The occlusal guidance surface maybe used to guide the positioning of denture teeth on one of the dentalarches. The occlusal guidance surface may be generated for one or bothof the mandibular arch and the maxillary arch.

In some implementations, the occlusal guidance surface is generated fora dental arch by sweeping (or moving) at least a portion of the opposingdental arch according to the motion data. For example, a portion of theopposing dental arch may be swept through one or more of excursive andprotrusive movements based on the motion data. In some implementations,the portion of the opposing dental arch may be swept through all of themovements represented in the motion data.

In some implementations, a midline polyline segment may be sweptaccording to the motion data. The midline polyline segment may be across-section of the opposing dentition at the midline (e.g., middle ofthe dental arch). The cross-section may be generated by slicing orintersecting a vertically oriented plane through the opposing dentition.

In some implementations, the midline polyline segment is not directlybased on the opposing dentition. For example, the midline polylinesegment may be a line segment on the occlusal plane that extends in theanterior-posterior direction at the midline.

As the portion of the opposing dentition is swept according to themotion data, the occlusal guidance surface is generated. For example, amidline polyline segment may be duplicated in multiple locationsaccording to the motion data (e.g., the midline polyline segment may beduplicated every 25 micron, every 50 microns, every 100 microns, oranother distance). The adjacent midline polyline segments may then bejoined to form a surface.

In some implementations, a polygonal surface may be deformed based onthe swept midline polyline segment. For example, the polygonal surfacemay initially be a flat surface that is positioned at the determinedocclusal plane location. As the midline polyline segment is sweptthrough different locations, the polygonal surface may be deformedvertically to the midline polyline segment.

At operation 912, digital denture teeth are positioned based on theocclusal guidance surface. The digital denture teeth may be loaded froma library of digital denture teeth. Some implementations includemultiple libraries of denture teeth. The digital denture teeth librariesmay vary functionally, aesthetically, or based on manufacturer.

In some implementations, the digital denture teeth may include labelsfor anatomical landmarks such as cusps, marginal ridges, incisal edges,fossa, grooves, base boundaries, or other anatomical landmarks. Theselabels may be used to automatically position the digital denture teethwith respect to one another and digital denture teeth on the opposingdentition.

FIG. 11 includes an example user interface screen 1100 that may begenerated by the denture design system 116 to display digital dentureteeth with example labels for various anatomical landmarks. In thisexample, the labels are displayed as spherical markers overlayed on thedigital denture teeth at the locations of the anatomical landmarks.Different types of anatomical landmarks may be shown with differentvisual characteristics. Here, different types of anatomical landmarksare shaded differently (e.g., using different colors or shadingcharacteristics). In some implementations, different types of anatomicallandmarks may be shown using different textures. In this example,different label characteristics are used for the mesial-labial cusp tips(or mesial end of the incisal edge, depending on the tooth),distal-labial cusp tips (or distal end of the incisal edge, depending onthe tooth), the mesial-lingual cusp tips, the distal-lingual cusp tips,the mesial end of the central fossa, and the distal end of the centralfossa.

Returning now to FIG. 9 , the digital denture teeth may be initiallypositioned in alignment with an arch curve. The arch curve may be sizedand shaped based on the digital dental model. Each of the digitaldenture teeth may include one or more labels that specify one or morelocations on the digital denture teeth to align to the arch curve. Thedigital denture teeth may also be associated with a tip and torque withrespect to one or more of the arch curve and the occlusal plane. Wheninitially positioned, the digital denture teeth may be positioned basedwith respect to the arch curve based on the labels and automaticallytipped and torqued with respect to the arch curve based on theassociated values.

FIG. 12 includes an example user interface screen 1200 that may begenerated by the denture design system 116 to display digital dentureteeth and an example arch curve. The example arch may be used toinitially position the digital denture teeth. Here, the arch curve is aspline curve shown with control points. The control points are shown asspheres. In some implementations, the user interface accepts inputs tochange the positions of the control points (e.g., a drag may repositiona selected control point) and adjusts the shape of the arch curveaccordingly. In some implementations, the digital denture teeth arerepositioned as the arch curve changes. In some implementations, thearch curve may be adjusted independently of the digital denture teeth.The user interface may be configured to accept one or more inputs (e.g.,a button or menu actuation) to cause the digital denture teeth tore-align to the arch curve.

FIG. 13 includes an example user interface screen 1300 that may begenerated by the denture design system 116 to allow a user to adjustsettings to automatically setup (position) digital denture teeth. Inthis example, a dialog box is displayed that has checkboxes to controlhow the digital denture teeth are automatically positioned. In thisexample, the dialog box includes checkboxes for “level anterior toocclusal plane”, “level posterior to occlusal plane”, “level molarbuccal-lingual cusps”, “snap to arch form”, “snap to occlusal plane”,and “adjust IP contacts”. A user may select one or more of thecheckboxes and then upon clicking the “OK” button, the digital dentureteeth will be repositioned accordingly.

In some implementations, the digital denture teeth may be aligned to theocclusal guidance surface. For example, the cusp tips and incisal edgesmay be aligned to the occlusal guidance surface.

In some implementations, the digital denture teeth for at least a firstdental arch are positioned according to the arch curve and the occlusalplane or occlusal guidance surface. The opposing dentition may then bealigned based on the positions of the digital denture teeth of the firstarch. For example, the labels of the anatomical landmarks may be used toalign the digital denture teeth of the opposing dentition with thedigital denture teeth of the first dental arch (e.g., cusp tips incontact with opposing fossa). The digital denture teeth may also bepositioned to achieve a desired overjet/overbite relationship. In someimplementations, the digital denture teeth of the lower dentition may bepositioned first based on the arch curve and occlusal guidance surfaceand the digital denture teeth of the upper dentition are then placedbased on the lower dentition.

FIG. 14 includes an example user interface screen 1400 that may begenerated by the denture design system 116 to show a complete set ofdigital denture teeth. As described previously, the digital dentureteeth of one of the arches (e.g., the lower arch) may be positionedbased on one or more of an arch curve, an occlusal plane, or an occlusalguidance surface. The digital denture teeth of the other arch (e.g., theupper arch) may then be positioned based on the positions of the digitaldenture teeth of the first arch.

Once the digital denture teeth are in their initial positions, theirpositions may be further refined. For example, some implementationsinclude a user interface that is configured to receive user input toadjust the positions of one or more of the digital denture teeth.

FIG. 15 includes an example user interface screen 1500 that may begenerated by the denture design system 116 to receive user input toreposition a digital denture tooth. In this example, a user has selectedone of the digital denture teeth (an upper molar). The user may, forexample, select a digital denture tooth by using a mouse to click on therepresentation of the digital denture tooth. In some implementations,the user may select a digital denture tooth by touching a touchscreen.The selected digital denture tooth may be displayed using differentcoloring or shading than the other digital denture teeth.

The user interface may then receive a user input to move the selecteddigital denture tooth. In some implementations, the user input is a draginput such as a click-and-drag or touch-and-drag. Based on the directionof the drag, the digital denture tooth may move in a correspondingdirection. In some implementations, the movement may be in a directionthat is parallel to the occlusal plane.

In some implementations, as the digital denture tooth moves based on thedrag input, the digital denture tooth also moves in theocclusal-gingival direction to make contact with the opposing dentition.In some implementations, the digital denture tooth may move to contactwith an occlusal guidance surface that is generated based on theopposing denture teeth and the motion data (e.g., by sweeping theopposing denture teeth through the motion of the motion data).Beneficially, in these embodiments, the digital denture teeth remain incontact as they are positioned, potentially increasing efficiency forboth a user and a computing device in positioning the digital dentureteeth. For example, fewer processing cycles may be used to automaticallymove a tooth into contact than would be used to generate a userinterface and receive user inputs to position the digital denture toothin contact. Another benefit of automatically moving the digital denturetooth into contact is that the resulting arrangement of digital dentureteeth may be more consistently of high quality than an arrangement whereeach digital denture tooth is moved into contact by a user. In someimplementations, multiple digital denture teeth may be selected andmoved together.

FIG. 16 includes an example user interface screen 1600 that may begenerated by the denture design system 116 to receive user input toreposition multiple digital denture teeth. In this example, threedigital denture teeth are selected and are being repositioned. As thedigital denture teeth are moved in response to user input, they are eachindividually moved into contact with the opposing dentition. Forexample, here, the three selected digital denture teeth may be moved inthe distal direction. As they move, they will each move in the gingivalor occlusal direction to maintain occlusal contact with the opposingdentition while avoiding interference (e.g., overlap or collision of thedigital denture teeth). For example, these tools may be used to rotateand reposition the upper digital denture teeth into a bilaterallybalanced, lingualized occlusion (e.g., by rotating the upper teeth sothat the buccal cusps are oriented further in the buccal direction).

FIG. 17 includes an example user interface screen 1700 that may begenerated by the denture design system 116 to receive user input toreposition a digital denture tooth. In this example, a user has selectedone of the digital denture teeth (an upper bicuspid). A user may provideuser input to cause the selected digital denture tooth to move in themesial or distal direction. In this example, the software applicationdetects contact with the adjacent digital denture teeth and preventsfurther movement of the selected digital denture tooth.

FIG. 18 includes an example user interface screen 1800 that may begenerated by the denture design system 116 to receive user input toreposition a digital denture tooth. In this example, a user has selectedone of the digital denture teeth (an upper molar). In this example, theuser interface is configured to allow the user to rotate the selecteddigital denture tooth. Here, the digital denture tooth is being rotatedabout an axis that is represented on the user interface by a sphere. Asthe digital denture tooth rotates, it is automatically moved in theocclusal or gingival direction to maintain contact and avoid overlapwith the opposing dentition.

In some implementations, the user interface may allow a user to iteratethrough the techniques for positioning digital denture teeth repeatedlyand in any order.

Returning now to FIG. 9 , at operation 914, a digital representation ofa denture base is generated. In some implementations, a soft-tissueboundary curve is generated based on the digital dental model. Thesoft-tissue boundary curve represents the edge of the denture base. Thesoft-tissue boundary curve may surround the edentulous ridge. Thesoft-tissue boundary curve may be represented by a spline curve. Someimplementations include a user interface through which a user may adjustthe spline curve.

A soft-tissue interface surface may be generated based on thesoft-tissue boundary curve and the digital dental model. For example, aportion of the digital dental model that is enclosed by the soft-tissueboundary curve may be offset (e.g., by 10 microns, 25 microns, 50microns, 100 microns, or another amount) to form the soft-tissueinterface surface. The soft-tissue interface surface may be an intagliosurface (i.e., the surface of the denture that touches the gum tissue).On upper dentures, the intaglio surface may be a posterior palatal seal.The offset may provide space for a dental adhesive that can secure thedenture, when fabricated, to the patient's edentulous ridge. Someimplementations are configured to fit to the patient's edentulous ridgevia suction or friction. In these embodiments, the soft tissue interfacesurface may not be offset from the digital dental model.

Tooth boundary curves may be identified for each of the positioneddigital denture teeth. The tooth boundary curves may be identifiedbased, for example, on labels stored with each of the digital dentureteeth that identify the portion of the tooth that should be embedded inthe denture base. A surface may be formed to join the outer edges of thetooth boundary curves to the soft-tissue interface surface. Sockets maybe generated within the boundary curves. The sockets may be shaped toreceive the denture teeth.

At operation 916, the denture is fabricated. For example, the denturebase may be fabricated based on the digital representation. The denturebase may be fabricated using a rapid fabrication technology such asthree-dimensional printing or computer numerically controlled (CNC)milling. For example, the denture base may be fabricated from acrylic oranother biocompatible material. The denture base may be made from amaterial that has aesthetic properties that substantially match gumtissue. In some implementations, pre-manufactured denture teeth thatmatch the digital denture teeth library are placed and bonded into thesockets of the denture base.

The denture teeth may also be manufactured using rapid fabricationtechnology. For example, the denture teeth may be fabricated using athree-dimensional printer or a CNC mill. The denture teeth may be formedfrom a biocompatible material that has aesthetic properties that aresimilar to the aesthetic properties of teeth. In some implementations,the digital denture teeth and the denture base are printed as a singleunit by a mixed material three-dimensional printer. In someimplementations, one or both of the denture base and the denture teethare cast using a wax casting process using a pattern fabricated by athree-dimensional printer of CNC mill.

In some implementations, interferences between the digital denture teethare identified by moving the dental arches according to the motion data.In implementations that use rapid fabrication technology to fabricatedenture teeth, the digital models of the denture teeth may be adjustedto remove portions of the digital denture teeth models that wouldinterfere before the denture teeth are fabricated. In implementationsthat place pre-manufactured denture teeth from a library into thedenture base, a CNC mill may be used to remove interfering regions ofthe pre-manufactured denture teeth after they are placed in the denturebase.

FIG. 19 is a schematic diagram of an example set of motion-baseddentures 1900. The motion-based dentures 1900 are an example of thedentures 124. The motion-based dentures 1900 are generated based onmotion data captured for a patient using, for example, the motioncapture system 200. The motion-based dentures 1900 may be fabricated bythe process 900.

In this example the motion-based dentures 1900 are complete dentures andinclude a maxillary denture 1910 and a mandibular denture 1920. Themaxillary denture 1910 is shaped to be worn on a maxillary dental arch.The mandibular denture 1920 is shaped to be worn on a mandibular dentalarch.

The maxillary denture 1910 includes a maxillary denture base 1912 andmaxillary denture teeth 1914. The mandibular denture 1920 includes amandibular denture base 1922 and mandibular denture teeth 1924.

FIG. 20 is a flowchart of an example process 2000 for fabricating areplacement denture based on an existing denture (also referred to as areference denture). In some embodiments, the process 2000 is performedby the system 100. The process of making a replacement denture may bereferred to as a denture remake in the dental field.

Replacement dentures may be needed for several reasons. For example, thedenture teeth in a reference denture may be damaged, stained, or lostover time. Additionally, the acrylic base of a reference denture maybecome damaged or stained over time.

The patient or doctor may desire that the teeth and arrangement of teethin a replacement denture be similar to the reference denture. It may bedifficult and time consuming, however, to provide similar denture teethand a similar arrangement of denture teeth using conventional techniquesfor fabricating replacement dentures. For example, neither the patientnor dentist may know which type of denture teeth (e.g., which library ofdenture teeth) were used in fabricating the reference denture (e.g., dueto a patient changing dentists or records being lost).

Additionally, traditional techniques for replicating the shape of thedenture base of a reference denture may be time consuming, imprecise,and use significant amounts of consumable materials to, for example,build molds of the reference denture that can be used to form a new butsimilar denture base. In some implementations, the process 2000 mayreduce the time and materials required to fabricate a replacementdenture while increasing the quality and match of the replacementdenture to the reference denture.

Furthermore, it may be necessary or desirable to adjust the verticaldimension of occlusion of the patient and re-equilibrate the occlusionof the replacement denture. In these cases, the replacement denture willnot necessarily exactly match the existing reference denture but willinstead be based on and similar to the reference denture. The toothsetup and equilibration techniques described herein can simplify thisprocess while improving the quality of the resulting tooth setup.

At operation 2002, a digital reference denture model of a referencedenture is acquired. For example, digital scan data representing thereference denture may be acquired using the dental impression station106. In some implementations, the digital scan data may be captured inthe patient's mouth using an intraoral scanner. Additionally, thedigital scan data may be captured using an external scanner such as alaser scanner, a structured light scanner, and MRI scanner, or a CTscanner. For example, the reference denture may be scanned in apatient's mouth using a CBCT scanner in a dental office. The referencedenture may also be scanned using a CBCT scanner outside of a patient'smouth.

Depending on the technology used for capturing the digital referencedenture model, compensation adjustments, such as offsets, to the rawscan/capture data of the model may be made to account for errorsinherent in the capture process. In some implementations, a calibrationpart of known dimensions is captured simultaneously with the referencedenture. The magnitude of adjustments may be determined based oncomparing the dimensions of the calibration part to the known dimensionsfor the calibration part.

In some implementations, the digital reference denture model may includeonly the top (or exterior) surface of the reference denture (e.g., whenthe digital scan data is captured in a patient's mouth using only anintraoral scanner). In these cases, a separate scan of the patient's gumtissue may also be captured for later use in designing the bottomsurface of the replacement dentures. Additionally, the bottom surface ofthe reference dentures (which is in contact with the patient's mouthwhen worn) may be scanned while the denture is not being worn. Anintraoral scanner may be used outside of the patient's mouth to scanthis surface. Additionally, any of the previously described scanningtechnologies may be used to scan this bottom surface.

At operation 2004, the digital reference denture model is positionedbased on a specified vertical dimension of occlusion for the replacementdenture. The vertical dimension of occlusion may be determined accordingto any of the techniques described elsewhere herein.

The vertical dimension of occlusion may be provided as a numeric value.In these examples, the dental arches of the digital reference denturemodel may be moved apart from one another to provide the desiredvertical dimension of occlusion. In some implementations, the dentalarches are moved apart from one another along a curved motion pathrepresenting the patient's actual jaw hinge motion. In someimplementations, the dental arches are moved apart from one anotheralong a curved motion path corresponding to a simulated motion based ona determined or inferred hinge location of the patient's jaw.

The vertical dimension of occlusion may also be provided through scandata, such as a scan of the existing reference denture with a biterecord positioned between the dental arches to provide the desiredvertical dimension of occlusion for the patient. In these examples, thedigital reference denture model may include multiple models: such as amodel of the lower dental arch of the reference denture, a model of theupper dental arch of the reference denture, and a model of both dentalarches in the desired position relative to one another (i.e., with thedesired vertical dimension of occlusion) or a model of a bite recordthat will fit to the occlusal surfaces of the reference dentures anddefines a relationship between the upper and lower dental arches of thereference denture with the desired vertical dimension of occlusion. Inthese cases, the separate upper and lower dental arch models may bealigned to the combination model or the bite record model. In this way,the separate upper and lower dental arches (which may be higher qualityor more easily separatable/segmentable) can be positioned to achieve thedesired vertical dimension of occlusion.

It should be understood that when the upper and lower reference denturemodels are positioned to provide the specified vertical dimension ofocclusion, the teeth of the upper and lower reference denture models maybe out of occlusion (e.g., not in contact with each other). Thepositions of the denture teeth may be adjusted later in the process(e.g., during operation 2010, where the denture teeth are equilibrated)to remove the space between the teeth while maintaining the desiredvertical dimension of occlusion.

At operation 2006, a denture tooth library is selected based on thedigital reference denture model. In some implementations, a width isdetermined for one or more of the teeth in the reference denture models.For example, a width of the upper six anterior teeth of the digitalreference denture model may be determined. The width may be an archwidth (i.e., measured along the dental arch) or a mesiodistal width(measured along the mesiodistal dimension). A denture tooth libraryhaving a width that most closely matches the width determined for thedigital reference denture model may be selected.

In some implementations, the portion corresponding to an anterior toothis identified based on position and geometric features of the model. Forexample, an occlusal portion of the digital reference denture model maybe identified based on the coordinates (e.g., the highest 5-25% of themodel based on a vertical coordinate). A curve may be fit to thatocclusal portion to generate an arch form corresponding to the arch formof the patient's dentition. A region adjacent to the midpoint of thearch form may be identified as corresponding to a central incisor. Insome implementations, geometric features may be used to identify edgesof teeth along the arch form. For example, the interfaces betweenadjacent teeth (interproximal regions) may be identified based onfinding lower points in the identified occlusal portion. The identifiedportion may also be identified using any type of tooth segmentationtechnique, including fully and partially automatic segmentationtechniques.

In some implementations, the portion identified as corresponding to ananterior tooth may be used to determine a width value for the digitalreference denture model. Multiple anterior teeth (e.g., all six anteriorteeth) may be identified and used to determine a width value for thedigital reference denture model.

The selected denture tooth library may be displayed visually so that auser may confirm or reject the selection. In some implementations,several candidate denture tooth libraries (e.g., the three that have theclosest width to that of the digital reference denture model) areselected and presented to a user. A user may use a user interface toselect between these options.

Turning now to FIG. 21A, an example user interface 2100 is shown. Theuser interface 2100 displays a digital reference denture model 2102along with a portion 2104 of a selected denture tooth library. In thisexample, the portion 2104 includes denture tooth 2106 a, denture tooth2106 b, denture tooth 2106 c, denture tooth 2106 d, denture tooth 2106e, and denture tooth 2106 f. The portion 2104 may be displayed for aselected denture tooth library. A user may be able to review and approvethe selection of the denture tooth library using a user-actuatablecontrol (not shown) displayed on the user interface 2100. In someimplementations, the user interface 2100 may include one or moreadditional user-actuatable controls to load or scroll through differentdenture tooth libraries.

Returning now to operation 2006 of FIG. 20 , in some implementations,additional features of the digital reference denture model are used toselect the denture tooth library. For example, a portion of the digitalreference denture model may be identified and used to select a denturetooth library that is similar to that identified portion. For example,the portion may correspond to an anterior tooth, such as a centralincisor. The portion may be identified based on user input (e.g., theuser may touch or click on a point of the portion of the digitalreference denture model that is being displayed, or the user may outlinea portion of a tooth in the digital reference denture model). Theportion may also be identified using any of the previously describedtechniques for identifying one or more teeth in the anterior region ofthe digital reference denture model.

Using the identified portion, models of the corresponding denture teethfrom multiple libraries may be aligned to that portion. The dentureteeth models may be aligned using, for example, an iterative alignmentprocess, such as an iterative closest point alignment. Iterative closestpoint alignment may be performed by iteratively (e.g., repeatedly)associating selected points (e.g., vertices) from the denture toothmodel with the closest points from the identified portion of the digitalreference denture model, estimating a transformation (e.g., a rotationand translation) of the denture tooth model to more closely align theselected points from the denture tooth model to the associated closestpoints from the portion of the digital reference denture model, andapplying the transformation to the denture tooth model. In someimplementations, the selected points on the denture tooth model are onan anterior surface of the denture tooth model. The selected points maybe identified in advance and stored with the denture tooth model (e.g.,as labels associated with specific vertices).

The alignment process may continue for a specific number of iterationsor until the transformation calculated/applied during an iteration isbelow a specific threshold. The aligned denture tooth may be compared tothe portion of the denture scan to calculate a similarity value. In someimplementations, portions of the denture tooth model are weighteddifferently when computing a similarity score. For example, the incisaledge may be assigned a lower weight than the labial surface. Thisweighting may compensate for the fact that the incisal edges of theteeth in the digital reference denture model are more likely to bedamaged or worn down to long-term use.

Multiple denture tooth models from different libraries may be alignedand compared. The denture tooth library containing the most similardenture tooth model (e.g., based on the calculated similarity values)may be selected. In some implementations, denture tooth models from asubset of the different libraries are used. An initial filter (orselection) process may be used to reduce the number of differentlibraries that are considered. The initial filter process may be basedon a width value of one or more anterior teeth. The initial filterprocess may be based on biographic information on the patient.

The initial filter process may also be based on extracting a shape fromthe selected portion of the digital reference denture model. Forexample, multiple horizontal slices of the portion may be generated(e.g., by computing the intersection of a horizontal plane with theportion) and compared to each other to determine a general shape of thetooth. For example, this process may determine that the portion of thedigital reference denture model has teeth with a square, ovoid, ortapering shape. A subset of denture tooth libraries may then beidentified based on the determined shape. This subset may be aligned andcompared to the portion of the digital reference denture model tocalculate a similarity value.

The initial filter process may also be based on other properties of thereference denture model that are manually or automatically determined.For example, one or more of a point angle, line angle, or labialconvexity value may be determined for an anterior tooth portion of thereference denture model. Turning now to FIGS. 21B and 21C, the denturetooth 2106 c is shown with an indicator L of a line angle, an indicatorP of a point angle, and indictor C of labial convexity. The indicator Lof the line angle shows an angle value that may be determined for thelibrary tooth by determining the angle of the distal edge of a tooth.The indicator P of the point angle shows a value that corresponds to theroundness of an incisal corner of the tooth. The indicator C shows avalue that corresponds to the convexity of the labial surface of thetooth. In some implementations, more than one point angle, line angle,or labial convexity value is determined for the patient's dentition asthe tooth may be asymmetric. These and other properties of a patient'steeth may be determined and used to guide the selection of a denturetooth library in at least some implementations.

When dentures for both the upper and lower dental arches are beingproduced, a single library of denture teeth may be selected and used forboth the upper and lower dental arches in some implementations. In otherimplementations, separate libraries of denture teeth are selected forthe upper dental arch and the lower dental arch. Further, differentlibraries or different variants of library teeth may be selected. Forexample, different libraries or variants within a library may beselected for antimeres so as to provide asymmetry that may create a morenatural appearance for the denture.

Returning now to FIG. 20 , at operation 2008, denture teeth from theidentified denture tooth library are selected and aligned to the digitalreference denture model. The teeth corresponding to the teeth in thereference denture are selected from the denture tooth library andaligned to the digital reference denture model. For example, the denturetooth models may be positioned one at a time. For example, a denturetooth for a central incisor may be positioned first. The denture toothmay be positioned and aligned to the digital reference denture modelusing alignment techniques similar to those described previously (e.g.,iterative closest point). After the first denture tooth model is alignedto the digital reference denture model, an adjacent tooth may bepositioned next to it. After the adjacent denture tooth model isinitially positioned next to the aligned denture tooth model, theadjacent denture tooth model may then be aligned with the digitalreference denture model (e.g., using an alignment technique such asiterative closest point). This process may continue to be performed,working from the anterior dentition back to the posterior dentition, onetooth at a time until all of the teeth have been aligned to the digitalreference denture model.

In some implementations, differences between the aligned denture libraryteeth and the digital reference denture model are identified. Thisinformation may be conveyed to a user visually using, for example, acolormap. This information may be beneficial to identify wear patternsand areas of the denture library teeth that may need to be modified inthe replacement denture.

At operation 2010, the positioned and aligned denture teeth areequilibrated with respect to the opposing dentition. The aligned dentureteeth may be out of contact with each other because an increase invertical dimension is desired. The denture teeth may be repositioned andequilibrated to close the space between the teeth so that the desiredvertical dimension of occlusion will be maintained when the patient usesthe dentures.

In some implementations, the denture teeth of the upper dental arch arealigned based on the lip position of the patient. The upper anteriordenture teeth may be adjusted and repositioned prior to adjusting any ofthe other denture teeth. The remaining upper denture teeth may then bepositioned with respect to the upper anterior denture teeth followingthe curve of Spee and the curve of Wilson (e.g., they may be moved downinto contact with a curved surface defined by one or more of theposition of the upper anterior denture teeth, the curve of Spee, and thecurve of Wilson). The lower denture teeth may then be automaticallypositioned (setup) with respect to the upper teeth. For example, thelower denture teeth may then be moved upward until contact is made withthe upper denture teeth that have already been positioned. Either orboth of the upper and lower denture teeth may be tilted or repositionedslightly to achieve a more balanced and comfortable occlusion.

Once the denture library teeth have been aligned to the respectivedigital reference denture models, the aligned denture library teeth fromeach arch may be moved with respect to each other according to motiondata for the patient. This motion data for the patient may be actualmotion data for the patient or simulated or inferred motion data for thepatient. The simulated or inferred motion data may be based on a hingelocation that has been determined for the patient.

This movement may be used to identify any potential interferences thatcould occur during normal jaw motion for the patient. The denture teethmay be adjusted to remove or minimize these interferences. In someimplementations, the aligned denture teeth can be adjusted andrepositioned using any of the automatic or interactive tools describedelsewhere herein.

At operation 2012, a denture base digital model is generated based onthe aligned denture teeth. The denture base digital model may be formedby using Boolean operations to subtract the aligned digital dentureteeth from the digital reference denture model. This process willgenerate a model similar to the gum tissue portion of the referencedenture with sockets to receive the denture teeth. In someimplementations, the denture teeth are expanded by a small amount beforethey are subtracted from the digital reference denture model to leavespace for adhesive between the denture teeth and the interior of thesockets. The expansion may be accomplished using a scaling of thedenture teeth or an offset of the surfaces of the denture teeth by afixed amount such as 0.05 to millimeters.

A common angle of insertion may be determined for all of the dentureteeth on a dental arch. Any undercuts in the sockets from that angle ofinsertion may be removed. Removal of the undercuts may be performed bysubtracting, from the digital denture base, a shape (e.g., a cylinder)that extends from the bottom surface of the socket along the insertionangle. his undercut removal may allow the denture teeth to be fabricatedas a single piece (e.g., using rapid manufacturing technology) andplaced in the denture base.

At operation 2014, gum tissue regions of the denture base digital modelare adjusted based on the positions of the denture teeth. In someimplementations, each of the denture library teeth models includemarkers of various landmarks that are usable to adjust gum tissue of thedenture base. These markers may be lines, polylines, splines, meshes,non-uniform rational B-splines (NURBS), or other geometric shapes. Themarkers may be on the surface of the library denture teeth or may beoffset from the surface. These markers move with the library dentureteeth as the library denture teeth are positioned by the preceding stepsof this process. The outer surface (corresponding to the gum tissue) maybe adjusted based on these markers as will be explained further belowwith respect to FIG. 22 .

Turning now to FIG. 22 , a schematic diagram of an example librarydenture tooth 2200 is shown. The library denture tooth 2200 alsoincludes several markers, including curve marker 2202, point markers2204 a and 2204 b, and surface marker 2206. The curve marker 2202 andthe point markers 2204 a and 2204 b may be positioned on the surface ofthe library denture tooth 2200. In this example, the surface marker 2206is a surface that is positioned in relation to the library denture tooth2200 but not on its surface. Some embodiments include additional ordifferent markers that may be positioned differently.

Returning now to FIG. 20 , during operation 2014, the gum tissue may beadjusted so that the top edge of the tooth socket of the denture baseddigital model follows the curve marker 2202, which corresponds to atarget gingival margin for the library denture tooth 2200. The gumtissue region may be adjusted to form local maxima at or near the pointmarkers 2204 a and 2204 b to represent interdental peaks. The gum tissuemay also be adjusted to match (or approximately match) the shape of thesurface marker 2206 so as to create an appearance of a root of the toothwithin the denture base.

At operation 2016, a physical denture base is fabricated from thedenture base digital model. The physical denture base may be fabricatedusing rapid fabrication technology. For example, a physical denture basemay be fabricated with a 3D printer using a wax material that can beused to form a model for forming an acrylic denture base. In someimplementations, the 3D printer prints the denture base directly using abiocompatible material that is safe to place in the patient's mouth. Theactual physical denture teeth can then be placed and secured in thephysical denture base. The denture teeth may also be produced as one ormultiple parts using rapid manufacturing technology. In someimplementations, a 3D printer may fabricate the denture teeth with thedenture base.

In some implementations, prior to fabricating a denture, an image may berendered of the denture. The image may be transmitted to a dental careprovider for review. In some implementations, the denture may berendered based on shade (color) information for the denture teethspecified by the dental care provider or determined from the refencedenture. In some implementations, an image of a patient with therendered denture teeth in place is generated. A user interface may beprovided to allow the dental care provider to indicate on the imagevarious changes or characterizations of the teeth that are desired.

This disclosure includes technology for generating denture setups (andother tooth setups). In some implementations, the setups are generatedwithout using motion data. In some implementations, the setups may begenerated using motion data. This motion data may be motion datacorresponding to actual patient jaw motion as captured by the motioncapture system. The motion data may also correspond to simulated motionbased on typical jaw motion data. The motion data may also correspond toinferred motion that is determined based on a hinge location for thepatient's jaw. For example, the hinge location for the patient's jaw maybe determined using the motion capture system 200.

This disclosure also includes technology for generating a denture from areference denture. In some implementations, generating a denture from areference does not use any motion data. In some implementations,generating a denture from a reference denture uses motion datacorresponding to actual jaw motion data for the patient. In someimplementations, generating a denture from a reference denture usessimulated motion data based on typical jaw motion or inferred motiondata based on a hinge location of a patient's jaw.

FIG. 23 illustrates an example architecture of a computing device 2950that can be used to implement aspects of the present disclosure,including any of the plurality of computing devices described herein,such as a computing device of the denture design system 116, the motiondetermining device 206, or any other computing devices that may beutilized in the various possible embodiments.

The computing device illustrated in FIG. 23 can be used to execute theoperating system, application programs, and software modules describedherein.

The computing device 2950 includes, in some embodiments, at least oneprocessing device 2960, such as a central processing unit (CPU). Avariety of processing devices are available from a variety ofmanufacturers, for example, Intel or Advanced Micro Devices. In thisexample, the computing device 2950 also includes a system memory 2962,and a system bus 2964 that couples various system components includingthe system memory 2962 to the processing device 2960. The system bus2964 is one of any number of types of bus structures including a memorybus, or memory controller; a peripheral bus; and a local bus using anyof a variety of bus architectures.

Examples of computing devices suitable for the computing device 2950include a desktop computer, a laptop computer, a tablet computer, amobile computing device (such as a smartphone, an iPod® or iPad® mobiledigital device, or other mobile devices), or other devices configured toprocess digital instructions.

The system memory 2962 includes read only memory 2966 and random-accessmemory 2968. A basic input/output system 2970 containing the basicroutines that act to transfer information within computing device 2950,such as during start up, is typically stored in the read only memory2966.

The computing device 2950 also includes a secondary storage device 2972in some embodiments, such as a hard disk drive, for storing digitaldata. The secondary storage device 2972 is connected to the system bus2964 by a secondary storage interface 2974. The secondary storagedevices 2972 and their associated computer readable media providenonvolatile storage of computer readable instructions (includingapplication programs and program modules), data structures, and otherdata for the computing device 2950.

Although the example environment described herein employs a hard diskdrive as a secondary storage device, other types of computer readablestorage media are used in other embodiments. Examples of these othertypes of computer readable storage media include magnetic cassettes,flash memory cards, digital video disks, Bernoulli cartridges, compactdisc read only memories, digital versatile disk read only memories,random access memories, or read only memories. Some embodiments includenon-transitory computer-readable media. Additionally, such computerreadable storage media can include local storage or cloud-based storage.

A number of program modules can be stored in secondary storage device2972 or system memory 2962, including an operating system 2976, one ormore application programs 2978, other program modules 2980 (such as thesoftware engines described herein), and program data 2982. The computingdevice 2950 can utilize any suitable operating system, such as MicrosoftWindows™, Google Chrome™ OS or Android, Apple OS, Unix, or Linux andvariants and any other operating system suitable for a computing device.Other examples can include Microsoft, Google, or Apple operatingsystems, or any other suitable operating system used in tablet computingdevices.

In some embodiments, a user provides inputs to the computing device 2950through one or more input devices 2984. Examples of input devices 2984include a keyboard 2986, mouse 2988, microphone 2990, and touch sensor2992 (such as a touchpad or touch sensitive display). Other embodimentsinclude other input devices 2984. The input devices are often connectedto the processing device 2960 through an input/output interface 2994that is coupled to the system bus 2964. These input devices 2984 can beconnected by any number of input/output interfaces, such as a parallelport, serial port, game port, or a universal serial bus. Wirelesscommunication between input devices and the interface 2994 is possibleas well, and includes infrared, BLUETOOTH® wireless technology,802.11a/b/g/n, cellular, ultra-wideband (UWB), ZigBee, or other radiofrequency communication systems in some possible embodiments.

In this example embodiment, a display device 2996, such as a monitor,liquid crystal display device, projector, or touch sensitive displaydevice, is also connected to the system bus 2964 via an interface, suchas a video adapter 2998. In addition to the display device 2996, thecomputing device 2950 can include various other peripheral devices (notshown), such as speakers or a printer.

When used in a local area networking environment or a wide areanetworking environment (such as the Internet), the computing device 2950is typically connected to the network through a network interface 3000,such as an Ethernet interface or WiFi interface. Other possibleembodiments use other communication devices. For example, someembodiments of the computing device 2950 include a modem forcommunicating across the network.

The computing device 2950 typically includes at least some form ofcomputer readable media. Computer readable media includes any availablemedia that can be accessed by the computing device 2950. By way ofexample, computer readable media include computer readable storage mediaand computer readable communication media.

Computer readable storage media includes volatile and nonvolatile,removable and non-removable media implemented in any device configuredto store information such as computer readable instructions, datastructures, program modules or other data. Computer readable storagemedia includes, but is not limited to, random access memory, read onlymemory, electrically erasable programmable read only memory, flashmemory or other memory technology, compact disc read only memory,digital versatile disks or other optical storage, magnetic cassettes,magnetic tape, magnetic disk storage or other magnetic storage devices,or any other medium that can be used to store the desired informationand that can be accessed by the computing device 2950.

Computer readable communication media typically embodies computerreadable instructions, data structures, program modules or other data ina modulated data signal such as a carrier wave or other transportmechanism and includes any information delivery media. The term“modulated data signal” refers to a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal. By way of example, computer readable communication mediaincludes wired media such as a wired network or direct-wired connection,and wireless media such as acoustic, radio frequency, infrared, andother wireless media. Combinations of any of the above are also includedwithin the scope of computer readable media.

The computing device illustrated in FIG. 23 is also an example ofprogrammable electronics, which may include one or more such computingdevices, and when multiple computing devices are included, suchcomputing devices can be coupled together with a suitable datacommunication network so as to collectively perform the variousfunctions, methods, or operations disclosed herein.

Example 1: A method comprising: acquiring a digital model of a patient'sdentition; acquiring motion data for the patient; determining a verticaldimension of occlusion for the patient; positioning the digital modelbased on the motion data to achieve the desired vertical dimension; andgenerating a denture design based on the positioned digital model.

Example 2: The method of example 1, wherein the determining a verticaldimension of occlusion for the patient includes determining a totaldistance between edentulous ridges to accommodate dentures with adesired amount of occlusal open space when the patient is at rest.

Example 3: The method of example 1, wherein the determining a verticaldimension of occlusion for the patient includes receiving an input froma gothic arch tracer.

Example 4: The method of example 1, wherein the determining a verticaldimension of occlusion for the patient includes: acquiring an anteriorfacial image of the patient; aligning the anterior facial image todigital model; displaying the aligned anterior facial image; andreceiving a user input to indicate the vertical dimension of occlusionbased on the displayed anterior facial image.

Example 5: The method of example 4, wherein the aligning the anteriorfacial image to digital model of the patient includes scaling theanterior facial image.

Example 6: The method of any one of examples 4 and 5, wherein thedisplaying the aligned anterior facial image includes: generating apolygonal surface in a common coordinate system with the digital dentalmodel; and displaying the anterior facial image on the polygon.

Example 7: The method of example 1, wherein the determining a verticaldimension of occlusion for the patient includes: receiving audio datathat is mapped to the motion data; identifying a target portion of theaudio; and identifying a position of a mandibular dental arch in themotion data based on the identified target portion of the audio.

Example 8: The method of example 7, wherein the identifying a targetportion of the audio includes receiving a user input to identify thetarget portion.

Example 9: The method of example 7, wherein the identifying a targetportion of the audio includes using sound processing to automaticallyidentify the target portion of the audio.

Example 10: The method of any one of examples 1-9, wherein thepositioning the digital model based on the motion data to achieve thedesired vertical dimension includes rotating a mandibular dental arch ofthe digital dental model about a hinge axis determined from the motiondata, to open to the determined vertical dimension of occlusion.

Example 11: The method of any one of examples 1-10, wherein thegenerating a denture design based on the positioned digital modelincludes: generating an occlusal guidance surface based on thedetermined vertical dimension of occlusion; positioning a first set ofdigital denture teeth models based on the occlusal guidance surface, thefirst set of digital denture teeth being for a first dental arch; andpositioning a second set of digital denture teeth models based on thefirst set of digital denture teeth models, the second set of digitaldenture teeth being for a second dental arch.

Example 12: The method of example 11, wherein the generating a denturedesign based on the positioned digital model further includes generatinga dental arch curve based on the digital model, and the positioning afirst set of digital denture teeth models based on the occlusal guidancesurface includes positioning the first set of digital denture teethmodels based on the occlusal guidance surface and the arch curve.

Example 13: The method of any one of examples 11 and 12, wherein thepositioning a second set of digital denture teeth models based on thefirst set of digital denture teeth models includes: positioning thesecond set of digital denture teeth models based on the arch curve; andmoving the second set of digital denture teeth models into contact withthe first set of digital denture teeth models.

Example 14: The method of example 13, wherein moving the second set ofdigital denture teeth models into contact with the first set of digitaldenture teeth models including moving the second set of digital dentureteeth based on the motion data.

Example 15: The method of any one of examples 11 through 14, furthercomprising: generating a user interface that displays at least some ofthe first set of digital denture teeth and some of the second set ofdigital denture teeth; and receiving a user input; responsive to theuser input: repositioning at least one tooth from the second set ofdigital denture teeth in a direction indicated by the user input;further repositioning the at least one tooth from the second set ofdigital denture teeth to make contact with the first set of digitaldenture teeth; and updating the display of the of the at least one toothfrom the second set of digital denture teeth.

Example 16: The method of example 15, wherein the repositioning at leastone tooth from the second set of digital denture teeth in a directionindicated by the user input includes repositioning the at least onetooth in a direction that is parallel to the occlusal guidance surface,and the further repositioning the at least one tooth from the second setof digital denture teeth to make contact with the first set of digitaldenture teeth includes repositioning the at least one tooth from thesecond set of digital denture teeth in a direction that is perpendicularto the occlusal guidance surface.

Example 17: The method of any one of examples 15 and 16, wherein thefurther repositioning the at least one tooth from the second set ofdigital denture teeth to make contact with the first set of digitaldenture teeth includes repositioning the at least one tooth based on themotion data.

Example 18: The method of any one of examples 15 through 17, wherein theat least one tooth from the second set of digital denture teeth includesa first tooth and a second tooth, the repositioning at least one toothfrom the second set of digital denture teeth in a direction indicated bythe user input includes repositioning the first tooth and the secondtooth by a same movement, and the further repositioning the at least onetooth from the second set of digital denture teeth to make contact withthe first set of digital denture teeth includes repositioning the firsttooth and the second tooth by different movements.

Example 19: The method of any one of examples 11 through 18, wherein thegenerating a denture design based on the positioned digital modelincludes: generating a first digital denture base model based on thedigital model of the patient's dentition and the first set of digitaldenture teeth.

Example 20: A method comprising: acquiring a digital model of apatient's dentition; positioning a first set of digital denture teethmodels with respect to the digital model, the first set of digitaldenture teeth being for a first dental arch; positioning a second set ofdigital denture teeth models with respect to the digital model, thesecond set of digital denture teeth being for a second dental arch;generating a user interface that displays at least some of the first setof digital denture teeth and some of the second set of digital dentureteeth; and receiving a user input; responsive to the user input:repositioning at least one tooth from the second set of digital dentureteeth in a direction indicated by the user input; further repositioningthe at least one tooth from the second set of digital denture teeth tomake contact with the first set of digital denture teeth; and updatingthe display of the of the at least one tooth from the second set ofdigital denture teeth.

Example 21: A denture design system including at least one processor andat least one memory that is operably coupled to the at least oneprocessor and storing instructions that, when executed by the at leastone processor, cause the denture design system to perform the method ofany one of examples 1 through 20.

Example 22: The system of example 21 further comprising a motion capturesystem that captures patient jaw motion and generates patient jaw motiondata.

Example 23: A system comprising: a motion capture system that capturespatient jaw motion and generates patient jaw motion data; and a denturedesign system including at least one processor and at least one memorythat is operably coupled to the at least one processor and storinginstructions that, when executed by the at least one processor, causethe denture design system to generate a denture design based on thepatient jaw motion data by: generating an occlusal guidance surfacebased on the patient jaw motion data; and positioning digital denturelibrary teeth based on the occlusal guidance surface.

Example 24: The system of example 23, wherein the generating an occlusalguidance surface based on the patient jaw motion data includes sweepingan opposing geometric structure based on the motion data.

Example 25: The system of example 24, wherein the sweeping the opposinggeometric structure includes positioning the opposing geometricstructure in a plurality of positions with respect to a dental archbased on the motion data.

Example 26: The system of example 25, further comprising joining theopposing geometric structure in the plurality of positions to form theocclusal guidance surface.

Example 27: The system of example 25, further comprising: generating aninitial occlusal guidance structure; and deforming the initial occlusalguidance structure based on the opposing geometric structure in theplurality of positions to form the occlusal guidance surface.

Example 28: The system of any one of examples 24-27, wherein theopposing geometric structure is a surface representing the opposingdentition.

Example 29: The system of any one of examples 24-27, wherein theopposing geometric structure is a polyline generated from across-section of the opposing dentition.

Example 30: The system of any one of examples 24-27, wherein theopposing geometric structure is a midline polyline segment that extendsin an anterior-posterior direction at a midline location.

Example 31: The system of any one of examples 24-27, wherein theopposing geometric structure includes at least one denture librarytooth.

Example 32: A method comprising: acquiring a digital reference denturemodel of a reference denture for a patient; selecting a denture toothlibrary based on the digital reference denture model; selecting andaligning denture library teeth from the selected denture tooth libraryto the digital reference denture model; generating a denture basedigital model based on the digital reference denture model and thealigned denture library teeth; and fabricating a physical denture basedfrom the denture base digital model.

Example 33: The method of example 32, wherein the acquiring a digitalreference denture model of a reference denture includes receivingdigital scan data representing the reference denture.

Example 34: The method of example 33, wherein the receiving digital scandata representing the reference denture includes receiving cone beamcomputed tomography (CBCT) data of the reference denture in thepatient's mouth.

Example 35: The method of any one of examples 32 through 34, furthercomprising acquiring digital scan data representing the patient's gumtissue and wherein the generating a denture base digital model based onthe digital reference denture model and the aligned denture libraryteeth includes generating a denture base digital model based on thedigital reference denture model, the aligned denture library teeth, andthe digital scan data representing the patient's gum tissue.

Example 36: The method of any one of examples 32 through 34, furthercomprising positioning the digital reference denture model based on aspecific vertical dimension of occlusion.

Example 37: The method of example 36, further comprising receiving auser input to specify the specific vertical dimension of occlusion.

Example 38: The method of example 36, further comprising: receivingadditional scan data of the reference denture with a bite recordpositioned between the dental arches to provide the desired verticaldimension of occlusion for the patient; and determining the specificvertical dimension of occlusion based on the additional scan data.

Example 39: The method of any of examples 36 through 38, wherein thepositioning the digital reference denture model based on a specificvertical dimension of occlusion includes moving a mandibular dental archof the digital reference denture model and a maxillary dental arch ofthe digital reference denture model apart from one another along acurved motion path corresponding to a simulated motion based on adetermined or inferred hinge location of the patient's jaw.

Example 40: The method of example 39, further comprising: acquiringmotion data for the patient; and inferring a hinge location based on themotion data.

Example 41: The method of any of examples 36 through 38, furthercomprising: acquiring motion data for the patient; and wherein thepositioning the digital reference denture model based on a specificvertical dimension of occlusion includes moving a mandibular dental archof the digital reference denture model and a maxillary dental arch alonga motion path determined from the motion data.

Example 42: The method of any one of examples 32 through 41, wherein theselecting a denture tooth library based on the digital reference denturemodel includes: determining a width of a portion of the digitalreference denture model; and identifying the denture tooth library basedon the determined width.

Example 43: The method of example 42, wherein the determining a width ofa portion of the digital reference denture model includes determiningthe width of the upper six anterior teeth of the digital referencedenture model.

Example 44: The method of any one of example 42 and 43, furthercomprising identifying a portion of the digital reference denture modelbased on position and geometric features.

Example 45: The method of any one of examples 42 through 44, furthercomprising segmenting the digital reference denture model.

Example 46: The method of any one of examples 32 through 45, wherein theselecting a denture tooth library based on the digital reference denturemodel includes: identifying a portion of the digital reference denturemodel; and determining similarity values for the portion based on thealignment of the portion with a plurality of denture tooth libraries;and selecting a denture tooth library based on the alignment score.

Example 47: The method of example 46 wherein the determining similarityvalues for the portion based on the alignment of the portion with aplurality of denture tooth libraries includes using an alignmenttechnique to align the portion with each of the plurality of denturetooth libraries.

Example 48: The method of example 47, wherein the alignment techniqueincludes iterative closest point alignment.

Example 49: The method of any one of examples 32 through 41, wherein theselecting a denture tooth library based on the digital reference denturemodel includes: generating a horizontal cross section of at least aportion of the digital reference denture model; and identifying thedenture tooth library based on the horizontal cross section.

Example 50: The method of any one of examples 32 through 41, wherein theselecting a denture tooth library based on the digital reference denturemodel includes: determining a shape of a portion of the digitalreference denture model; and identifying the denture tooth library basedon the determined shape.

Example 51: The method of any one of examples 32 through 50, wherein theselecting a denture tooth library based on the digital reference denturemodel includes: causing a plurality of candidate denture tooth librariesto be displayed; and receiving a user input to select a denture toothlibrary from the plurality of candidate denture tooth libraries.

Example 52: The method of any one of examples 32 through 51, wherein theselecting and aligning denture library teeth from the selected denturetooth library to the digital reference denture model includes aligningdenture library teeth to the digital reference denture model using analignment technique.

Example 53: The method of example 52, wherein the alignment techniqueincludes iterative closest point alignment.

Example 54: The method of any one of examples 32 through 53, furthercomprising equilibrating the aligned denture teeth with respect toopposing aligned denture teeth.

Example 55: The method of example 54, wherein the equilibrating thealigned denture teeth with respect to opposing aligned denture teethincludes equilibrating the aligned denture teeth using motion data.

Example 56: The method of any one of examples 32 through 55, wherein thegenerating a denture base digital model based on the digital referencedenture model and the aligned denture library teeth includes usingBoolean operations to subtract aligned denture library teeth from thereference denture model.

Example 57: The method of any one of examples 32 through 56, wherein thegenerating a denture base digital model based on the digital referencedenture model and the aligned denture library teeth includes determininga common angle of insertion for the aligned denture library teeth; andremoving undercuts in socket portions of the denture base digital modelwith respect to the common angle of insertion.

Example 58: The method of any one of examples 32 through 57, furthercomprising: adjusting a gum tissue region of the denture base digitalmodel based on landmarks associated with the aligned denture libraryteeth.

Example 59: A denture design system including at least one processor andat least one memory that is operably coupled to the at least oneprocessor and storing instructions that, when executed by the at leastone processor, cause the denture design system to perform the method ofany one of examples 32 through 58.

Example 60: The system of example 59 further comprising a motion capturesystem that captures patient jaw motion and generates patient jaw motiondata.

Example 61: A non-transitory computer-readable storage medium comprisinginstructions stored thereon that, when executed by at least oneprocessor, are configured to cause a computing system to perform themethod of any one of examples 1 through 20 and 32 through 58.

The various embodiments described above are provided by way ofillustration only and should not be construed to limit the claimsattached hereto. Those skilled in the art will readily recognize variousmodifications and changes that may be made without following the exampleembodiments and applications illustrated and described herein, andwithout departing from the true spirit and scope of the followingclaims.

1. A method comprising: acquiring a digital model of a patient'sdentition; acquiring motion data for the patient; determining a verticaldimension of occlusion for the patient; positioning the digital modelbased on the motion data to achieve the desired vertical dimension; andgenerating a denture design based on the positioned digital model. 2.The method of claim 1, wherein the determining a vertical dimension ofocclusion for the patient includes determining a total distance betweenedentulous ridges to accommodate dentures with a desired amount ofocclusal open space when the patient is at rest.
 3. The method of claim1, wherein the determining a vertical dimension of occlusion for thepatient includes receiving an input from a gothic arch tracer.
 4. Themethod of claim 1, wherein the determining a vertical dimension ofocclusion for the patient includes: acquiring an anterior facial imageof the patient; aligning the anterior facial image to digital model;displaying the aligned anterior facial image; and receiving a user inputto indicate the vertical dimension of occlusion based on the displayedanterior facial image.
 5. The method of claim 4, wherein the aligningthe anterior facial image to digital model of the patient includesscaling the anterior facial image.
 6. The method of claim 4, wherein thedisplaying the aligned anterior facial image includes: generating apolygonal surface in a common coordinate system with the digital dentalmodel; and displaying the anterior facial image on the polygon.
 7. Themethod of claim 1, wherein the determining a vertical dimension ofocclusion for the patient includes: receiving audio data that is mappedto the motion data; identifying a target portion of the audio; andidentifying a position of a mandibular dental arch in the motion databased on the identified target portion of the audio.
 8. The method ofclaim 7, wherein the identifying a target portion of the audio includesreceiving a user input to identify the target portion.
 9. The method ofclaim 7, wherein the identifying a target portion of the audio includesusing sound processing to automatically identify the target portion ofthe audio. 10-22. (canceled)
 23. A system comprising: a motion capturesystem that captures patient jaw motion and generates patient jaw motiondata; and a denture design system including at least one processor andat least one memory that is operably coupled to the at least oneprocessor and storing instructions that, when executed by the at leastone processor, cause the denture design system to generate a denturedesign based on the patient jaw motion data by: generating an occlusalguidance surface based on the patient jaw motion data; and positioningdigital denture library teeth based on the occlusal guidance surface.24. The system of claim 23, wherein the generating an occlusal guidancesurface based on the patient jaw motion data includes sweeping anopposing geometric structure based on the motion data.
 25. The system ofclaim 24, wherein the sweeping the opposing geometric structure includespositioning the opposing geometric structure in a plurality of positionswith respect to a dental arch based on the motion data.
 26. The systemof claim 25, further comprising joining the opposing geometric structurein the plurality of positions to form the occlusal guidance surface. 27.The system of claim 25, further comprising: generating an initialocclusal guidance structure; and deforming the initial occlusal guidancestructure based on the opposing geometric structure in the plurality ofpositions to form the occlusal guidance surface.
 28. The system of anyone of claim 24, wherein the opposing geometric structure is a surfacerepresenting the opposing dentition.
 29. The system of any one of claim24, wherein the opposing geometric structure is a polyline generatedfrom a cross-section of the opposing dentition.
 30. The system of anyone of claim 24, wherein the opposing geometric structure is a midlinepolyline segment that extends in an anterior-posterior direction at amidline location.
 31. The system of any one of claim 24, wherein theopposing geometric structure includes at least one denture librarytooth. 32-61. (canceled)